Hostname: page-component-54dcc4c588-smtgx Total loading time: 0 Render date: 2025-10-02T15:44:08.816Z Has data issue: false hasContentIssue false
  • English
  • Français

Robot assembly theory and simulation of circular-rectangular compound peg-in-hole

Published online by Cambridge University Press:  01 April 2022

Weiguo Wu ,
Kexin Liu Open the ORCID record for Kexin Liu [Opens in a new window]  and
Tong Wang
Weiguo Wu*
Affiliation:
Humanoid and Gorilla Robot & Its Intelligent Motion Control Lab, Harbin Institute of Technology, Harbin, China
Kexin Liu
Affiliation:
Humanoid and Gorilla Robot & Its Intelligent Motion Control Lab, Harbin Institute of Technology, Harbin, China
Tong Wang
Affiliation:
Humanoid and Gorilla Robot & Its Intelligent Motion Control Lab, Harbin Institute of Technology, Harbin, China
*
*Corresponding author. E-mail: wuwg@hit.edu.cn
Get access Rights & Permissions [Opens in a new window]

Abstract

In this paper, the assembly problem of circular-rectangular compound peg and hole parts in automatic assembly is proposed for the first time, and an automatic assembly method based on six-dimensional force sensor is summarized. Firstly, according to the quasi-static equilibrium condition, the contact states are summarized. It is concluded that there are 7 categories of 44 contact states in insertion stage and the forces conditions to maintain each contact state; Secondly, according to the analysis of the force/moment relationship, the jamming diagram is drawn, and the conditions of jamming are analyzed. Thirdly, the assembly strategy is discussed, including contact state recognition strategy, hole searching strategy, and pose adjustment strategy. Finally, combined with impedance control, the assembly theory is verified in ADAMS, and the assembly with minimum clearance of 0.1 mm is achieved.

Keywords

circular-rectangular compound peg and hole partsautomatic peg-in-hole assemblycontact statejamming analysisassembly strategy

Information

Type
Research Article
Information
Robotica , Volume 40 , Issue 9 , September 2022 , pp. 3306 - 3339
Copyright
© The Author(s), 2022. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

Simunovi, S. N. S., An Information Approach to Parts Mating (1979), pp. 29–35.Google Scholar
Whitney, D. E., “Quasi-static assembly of compliantly supported rigid parts,” J. Dyn. Syst. Meas. Control 104(1), 65–77 (1982).CrossRefGoogle Scholar
Usubamatov, R. and Leong, K. W., “Analyses of peg-hole jamming in automatic assembly machines,” Assem. Autom. 31(4), 358–362 (2011).CrossRefGoogle Scholar
Caine, M. E., Lozano-Perez, T. and Seering, W. P., “Assembly Strategies for Chamferless Parts,” In: Proceedings, 1989 International Conference on Robotics and Automation (IEEE, 2002).Google Scholar
Park, D. I., Park, C., Do, H., Choi, T. and Kyung, J.-H., “Assembly Phase Estimation in the Square Peg Assembly Process,” In: 2012 12th International Conference on Control, Automation and Systems (IEEE, 2012).Google Scholar
Kim, K., Kim, J., Seo, T. W., Kim, H. S. and Kim, J., “Development of efficient strategy for square peg-in-hole assembly task,” Int. J. Precis. Eng. Manuf. 19(9), 1323–1330 (2018).CrossRefGoogle Scholar
Ohwovoriole, M. S.. An Extension of Screw Theory and its Application to the Automation of Industrial Assemblies, Diss. (Stanford University, 1980).Google Scholar
Sathirakul, K. and Sturges, R. H., “Jamming conditions for multiple peg-in-hole assemblies,” Robotica 16(3), 329–345 (1998).CrossRefGoogle Scholar
Fei, Y. and Zhao, X., “Contact and jamming analysis for three dimensional dual peg-in-hole mechanism,” Mech. Mach. Theory 39(5), 477–499 (2004).CrossRefGoogle Scholar
Zhang, K., Xu, J., Chen, H., Zhao, J. and Chen, K., “Jamming analysis and force control for flexible dual peg-in-hole assembly,” IEEE Trans. Ind. Electron. 66(3), 1930–1939 (2019).CrossRefGoogle Scholar
Zhou, B., Liu, L. and Chen, G., “Contact analysis for dual peg-in-hole assembly of automobile alternator frame,” Mech. Ind. 21(2), 209 (2020).CrossRefGoogle Scholar
Newman, W. S., Zhao, Y. and Pao, Y.-H., “Interpretation of Force and Moment Signals for Compliant Peg-in-Hole Assembly, In: Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No. 01CH37164) (IEEE, vol. 1, 2001).Google Scholar
Sharma, K., Shirwalkar, V. and Pal, P. K., “Intelligent and Environment-Independent Peg-in-Hole Search Strategies,” In: 2013 International Conference on Control, Automation, Robotics and Embedded Systems (CARE), (IEEE, 2013).CrossRefGoogle Scholar
Sharma, K., Shirwalkar, V. and Pal, P. K., “Peg-In-Hole search using convex optimization techniques,” Ind. Robot 44(5), 618–627 (2017).CrossRefGoogle Scholar
Huang, Y., Zhang, X., Chen, X. and Ota, J., “Vision-guided peg-in-hole assembly by Baxter robot,” Adv. Mech. Eng. 9(12), 1–9 (2017).CrossRefGoogle Scholar
Kim, Y.-L., Song, H.-C. and Song, J.-B., “Hole detection algorithm for chamferless square peg-in-hole based on shape recognition using F/T sensor,” Int. J. Precis. Eng. Manuf. 15(3), 425–432 (2014).CrossRefGoogle Scholar
Yun, S.-K., “Compliant Manipulation for Peg-In-Hole: Is Passive Compliance a Key to Learn Contact Motion?,” In: 2008 IEEE International Conference on Robotics and Automation (IEEE, 2008).Google Scholar
Park, H., Kim, P. K., Bae, J. H., Park, J. H., Baeg, M. H. and Park, J., “Dual Arm Peg-In-Hole Assembly with a Programmed Compliant System,” In: 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) (IEEE, 2014).CrossRefGoogle Scholar
Tsumugiwa, T., Sakamoto, A., Yokogawa, R. and Hara, K., “Switching Control of Position/Torque Control for Human-Robot Cooperative Task-Human-Robot Cooperative Carrying and Peg-In-Hole Task, In: 2003 IEEE International Conference on Robotics and Automation (Cat. No. 03ch37422) (vol. 2, IEEE, 2003).Google Scholar
Mol, N., Smisek, J., Babuška, R. and Schiele, A., “Nested Compliant Admittance Control for Robotic Mechanical Assembly of Misaligned and Tightly Toleranced Parts,” In: 2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC) (IEEE, 2016).CrossRefGoogle Scholar
Fan, X., Xu, J., Ho, Y. S. and Leung, T. P., “Adaptive fuzzy genetic learning algorithm for the hybrid position/force control of constrained flexible-link robotic manipulators,” IFAC Proc. Vol. 32(2), 635–640 (1999).CrossRefGoogle Scholar
Wang, K.-J., “Fuzzy Sliding Mode Joint Impedance Control for a Tendon-Driven Robot Hand Performing Peg-In-Hole Assembly,” In: 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO), (IEEE, 2016).CrossRefGoogle Scholar
Jasim, I. F., Plapper, P. W. and Voos, H., “Model-Free Robust Adaptive Control for Flexible Rubber Objects Manipulation,” In: 2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA) (IEEE, 2015).CrossRefGoogle Scholar