A model and strategy analysis of the peg-hole system in the search process associated with robotic assembly operations without chamfers

Robotica ◽  
1996 ◽  
Vol 14 (6) ◽  
pp. 647-658 ◽  
Author(s):  
Hong Qiao ◽  
Philip Moore ◽  
Jeff Knight
Keyword(s):  
High Precision ◽  
Manufacturing Process ◽  
High Speed ◽  
Manufacturing Industry ◽  
Robotic Assembly ◽  
Search Process ◽  
Strategy Analysis ◽  
Assembly Operation ◽  
Assembly Operations ◽  
Insertion Process

Robotic peg-hole insertion operations can play a very important role in manufacturing industry because it is a common requirement in the manufacturing process and, it requires high precision and high speed.In general, this operation can be divided into two processes: Search process to engage the peg and the hole and, insertion process.The search process is critical in the assembly operation. It can be defined as a process where the angular.and the translational errors between the peg and the hole are reduced until insertion can occur.

Robotic Assembly Operation Strategy Investigation Without Force Sensors Through the Research on Contact Point Location and Range of Peg Movement

1996 ◽  
Vol 210 (5) ◽  
pp. 471-485 ◽  
Author(s):  
H Qiao ◽  
B S Dalay ◽  
J A G Knight
Keyword(s):  
High Speed ◽  
Manufacturing Industry ◽  
Contact Point ◽  
Robotic Assembly ◽  
Coordinate Frame ◽  
Force Sensors ◽  
Control Input ◽  
Widespread Application ◽  
Assembly Operation ◽  
Initial Area

The assembly operation plays an important role in manufacturing industry. The robotic peg-hole insertion operation, the most widely used assembly model, has been heavily studied due to its widespread application. The purpose of the research in this area is to design techniques that enable the robot to perform assembly operations with high speed, high accuracy and low cost. The key problems of strategy investigation research include: (a) designing a series of sub-goals through which the peg-hole system can achieve the insertion operation from any point in the initial area, (b) calculating the allowable range for the initial area, (c) determining the values and duration of the control inputs and (d) analysing the robustness of the strategy. There are many strategies given to perform the assembly operation with the assistance of specially designed force sensors or flexible wrists. In this paper: 1. The map from the position of the peg in the coordinate frame attached to the hole and the location of the contact point in the frame attached to the peg was analysed. This provided the basis for the identification of the position relationship between the peg and the hole using a force sensor signal. 2. The range of peg movement was analysed and found to be useful in the selection of the sub-goals for the insertion operation. 3. A deficient and yet precise hardware strategy, characterized by not requiring force sensors or flexible wrists, was analysed. 4. The validity of the deficient hardware strategy was demonstrated through experiments with the UMI-RTX robot. The results were further confirmed through simulation. The allowed initial area, the control input design and the robustness of the strategy were analysed in detail. A constant cycle time of 2.5 s was achieved during the ten trials in which the diameters of the pegs were selected from a choice of 29.99, 31.98 or 31.99 mm with a clearance between the hole remaining at 0.02 mm and a common peg legnth of 41 mm.

Study on Modern Machinery Manufacturing Technology and High Precision Machining Technology

2014 ◽  
Vol 707 ◽  
pp. 520-524
Author(s):  
Min Liu ◽  
Jian Luo
Keyword(s):  
High Precision ◽  
Manufacturing Process ◽  
Theoretical Basis ◽  
Manufacturing Industry ◽  
Rapid Development ◽  
Manufacturing Technology ◽  
Precision Machining ◽  
Chinese Society ◽  
Machinery Manufacturing ◽  
Technical Guidance

In recent years, with the rapid development of economy in Chinese society, the mechanical manufacturing technology is increasingly maturing and requirements for the product quality and product precision is becoming higher and higher, so the development of mechanical manufacturing technology and high precision machining technology has been widely concerned by the relevant departments. According to the actual development of the modern machinery manufacturing technology and the high precision machining technology, on the basis of the principle of mechanical manufacturing, the characteristics of mechanical manufacturing technology and high precision machining should be analyzed thoroughly, meanwhile, the performance of the mechanical manufacturing process and high precision machining technology should be improved, thus, it can provide more theoretical basis and technical guidance for the development of mechanical manufacturing industry.

scholarly journals CAD-Based Automatic Clash Analysis for Robotic Assembly

2019 ◽  
Vol 4 (2) ◽  
pp. 432-441 ◽  
Author(s):  
Bala Murali Gunji ◽  
B. B. V. L. Deepak ◽  
Bijaya Kumar Khamari ◽  
Bibhuti Bhusan Biswal
Keyword(s):  
Mathematical Models ◽  
Manufacturing Process ◽  
Information Matrix ◽  
Search Space ◽  
Robotic Assembly ◽  
Assembly Sequence ◽  
Assembly Operation ◽  
Contact Information ◽  
Contact Data ◽  
Automatic Algorithm

Assembly operation occupies major stake in the manufacturing process to obtain the final product. In order to obtain an assembly sequence for a given product, the product should be free of clashes between the parts. To know the clash between the parts, many researchers are followed mathematical models to generate contact data information of the product. These methods will consume much time and search space to extract the information from the product. Current research focuses on developing an automatic algorithm to generate the clash analysis report using macros CATIA V5 R17. In this method, it will not only generate the clash analysis report but also generate a contact information matrix between the parts of the assembly. The developed methodology is implemented on various industrial products to extract the clash information of the product.

Robotic assembly: chamferless peg-hole assembly

Robotica ◽  
1999 ◽  
Vol 17 (6) ◽  
pp. 621-634 ◽  
Author(s):  
W. Haskiya ◽  
K. Maycock ◽  
J. Knight
Keyword(s):  
Robotic Assembly ◽  
Automatic Assembly ◽  
Assembly Operation ◽  
Expensive Equipment ◽  
Common Task ◽  
Insertion Process

The peg-in-hole insertion process is the most common task in the robotic/automatic assembly industry. However, the inaccuracy of the assembly robot in positioning the inserted peg into the hole due to the uncertainty of the assembly environment, represents an obstacle in this area of automation. To overcome this problem, complex and expensive equipment has been designed. The objective of this paper is to provide an in-depth understanding of the chamferless peg-hole assembly, by showing the geometrical, dynamical conditions for a successful assembly operation. Also, the results of this analysis have been simulated to demonstrate the chamferless peg-hole insertion process.

scholarly journals Variable step control to improve scanning speed of gene sequencing stage

2021 ◽  
pp. 002029402110022
Author(s):  
Xiaohua Zhou ◽  
Jianbin Zheng ◽  
Xiaoming Wang ◽  
Wenda Niu ◽  
Tongjian Guo
Keyword(s):  
Motion Control ◽  
High Precision ◽  
High Speed ◽  
Stable State ◽  
Gene Sequencing ◽  
Scanning Speed ◽  
Settling Time ◽  
Step Motion ◽  
Variable Step ◽  
Step Control

High-speed scanning is a huge challenge to the motion control of step-scanning gene sequencing stage. The stage should achieve high-precision position stability with minimal settling time for each step. The existing step-scanning scheme usually bases on fixed-step motion control, which has limited means to reduce the time cost of approaching the desired position and keeping high-precision position stability. In this work, we focus on shortening the settling time of stepping motion and propose a novel variable step control method to increase the scanning speed of gene sequencing stage. Specifically, the variable step control stabilizes the stage at any position in a steady-state interval rather than the desired position on each step, so that reduces the settling time. The resulting step-length error is compensated in the next acceleration and deceleration process of stepping to avoid the accumulation of errors. We explicitly described the working process of the step-scanning gene sequencer and designed the PID control structure used in the variable step control for the gene sequencing stage. The simulation was performed to check the performance and stability of the variable step control. Under the conditions of the variable step control where the IMA6000 gene sequencer prototype was evaluated extensively. The experimental results show that the real gene sequencer can step 1.54 mm in 50 ms period, and maintain a high-precision stable state less than 30 nm standard deviation in the following 10 ms period. The proposed method performs well on the gene sequencing stage.

Infact not fiction

1995 ◽  
Vol 15 (1) ◽  
pp. 34-34
Author(s):  
Clive Loughlin
Keyword(s):  
Assembly Line ◽  
New Product ◽  
Assembly System ◽  
Assembly Operation ◽  
Flexible Assembly ◽  
Change Mechanism ◽  
Assembly Operations ◽  
Shuttle System

Examines the development of a flexible assembly machine, GENASYS [Generic Assembly System] which has been designed to produce a range of components. The machine comprises two manipulator arms, a tool changer and a shuttle system for the pallets on which the assembly operations are performed. Each manipulator is able to select a different tool from a carousel tool change mechanism that can accommodate up to 20 different tools. The machine can easily be programmed for a specific assembly operation and low batch numbers can be produced economically. Timescales for the design and installation of the machine are considerably shorter than for a dedicated assembly line and once installed in a factory new product variants can be accommodated within very short timescales and with low‐retooling costs.

Evaluation of Parts Produced by a Novel Additive Manufacturing Process

2013 ◽  
Vol 315 ◽  
pp. 63-67 ◽  
Author(s):  
Muhammad Fahad ◽  
Neil Hopkinson
Keyword(s):  
Additive Manufacturing ◽  
Rapid Prototyping ◽  
Manufacturing Process ◽  
High Speed ◽  
Three Dimensional ◽  
Coordinate Measuring Machine ◽  
Layer By Layer ◽  
Nylon 12 ◽  
Measuring Machine ◽  
End Use

Rapid prototyping refers to building three dimensional parts in a tool-less, layer by layer manner using the CAD geometry of the part. Additive Manufacturing (AM) is the name given to the application of rapid prototyping technologies to produce functional, end use items. Since AM is relatively new area of manufacturing processes, various processes are being developed and analyzed for their performance (mainly speed and accuracy). This paper deals with the design of a new benchmark part to analyze the flatness of parts produced on High Speed Sintering (HSS) which is a novel Additive Manufacturing process and is currently being developed at Loughborough University. The designed benchmark part comprised of various features such as cubes, holes, cylinders, spheres and cones on a flat base and the build material used for these parts was nylon 12 powder. Flatness and curvature of the base of these parts were measured using a coordinate measuring machine (CMM) and the results are discussed in relation to the operating parameters of the process.The result show changes in the flatness of part with the depth of part in the bed which is attributed to the thermal gradient within the build envelope during build.

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