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Compliant peg-in-hole assembly for nonconvex axisymmetric components based on attractive region in environment

Published online by Cambridge University Press:  29 May 2023

Yang Liu Open the ORCID record for Yang Liu [Opens in a new window] ,
Ziyu Chen ,
Hong Qiao  and
Shuai Gan Open the ORCID record for Shuai Gan [Opens in a new window]
Yang Liu
Affiliation:
School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China
Ziyu Chen
Affiliation:
Institute of Automation, Chinese Academy of Sciences, Beijing, China
Hong Qiao*
Affiliation:
Institute of Automation, Chinese Academy of Sciences, Beijing, China
Shuai Gan
Affiliation:
School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China
*
Corresponding author: Hong Qiao; Email: hong.qiao@ia.ac.cn
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Abstract

With the development of intelligent manufacturing, more and more nonstandard parts are used in high-precision assembly. The robotic assembly method based on attractive region in environment (ARIE) has been proven to have good performance in the high-precision assembly under the limitation of robot system accuracy or sensing accuracy. However, for the assembly of nonstandard parts, especially nonconvex parts, the existing ARIE-based strategy lacks a targeted design. In the assembly process, the nonconvex structure may cause blocking problems, which will lead to assembly failure when using the strategy. In order to solve this problem, this paper proposes a new assembly method by using the geometric features of constraint region based on the concept of ARIE. Specifically, first, when using the ARIE-based classic strategy, the reasons for the possible blocking problem in the assembly of a class of nonconvex axisymmetric parts are analyzed in detail. Second, a multi-step sliding strategy is proposed based on the theory of ARIE to solve the possible blocking problem in the assembly process. Third, impedance control is used to enable the peg to achieve the desired compliant motion in the proposed strategy. The improvement in the success rate of the proposed method is verified by the comparison experiment of small clearance peg-in-hole assembly, where the structure of the peg is nonconvex and axisymmetric.

Keywords

automationmotion planningnonconvex axisymmetric partshigh-precision peg-in-hole assemblyconstraint region analysisattractive region in environment
Type
Research Article
Information
Robotica , Volume 41 , Issue 8 , August 2023 , pp. 2314 - 2336
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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