NDLI: Analysis of dynamic assembly using passive compliance

Content Provider	IEEE Xplore Digital Library
Author	Nguyen Trong, D. Betemps, M. Jutard, A.
Copyright Year	1995
Description	Author affiliation: Dept. of Mech. Eng., Polytech. Inst of Hanoi, Viet Nam (Nguyen Trong, D.)
Abstract	Robotic peg-in-hole assembly is a very complex dynamic process. A complete analysis of the geometric and dynamic equilibrium conditions has established a general assembly model for a certain goal: to understand the mechanism of dynamic insertion and the development of compliant devices capable of avoiding wedging and jamming in high speed assembly operation. This paper presents a dynamic model which includes the different factors influencing the behaviour of assembly processes such as: gravity, inertia, dry friction, compliance and insertion speed. The simulation of proposed model allows us to choose the optimal parameters of dynamic compliance device. An application of this work is presented as a development of compliance device for high speed and precision chamferless assembly.
Starting Page	1997
Ending Page	2002
File Size	544560
Page Count	6
File Format	PDF
ISBN	0780319656
ISSN	10504729
DOI	10.1109/ROBOT.1995.525556
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-05-21
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robotic assembly Assembly systems Service robots Robotics and automation Jamming Manufacturing industries Gravity Production Dynamic equilibrium Solid modeling
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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