Mating of Rigid Parts by a Manipulator With Its Own Compliance

[+] Author and Article Information
M. C. Leu, Y. L. Jia

Department of Mechanical and Industrial Engineering, New Jersey Institute of Technology, Newark, NJ 07102

J. Eng. Ind 117(2), 240-247 (May 01, 1995) (8 pages) doi:10.1115/1.2803300 History: Received September 01, 1990; Revised March 01, 1994; Online January 17, 2008


In most assembly tasks involving mating of parts, industrial robots are not equipped with special compliant devices such as a remote center compliant hand. It is useful to know how the mating force and part movement are affected by assembly compliance, which depends upon robot configuration, and by other assembly parameters such as initial position errors, clearance between mating parts, etc. Such knowledge is helpful to the design of the layout of an assembly cell, specification of robot accuracy, specification of manufacturing tolerance, and so on. This paper derives the mating force and part movement in the mating of rigid cylindrical parts by an industrial manipulator with its own compliance, using a planar peg-in-hole insertion model. The derived mathematical relations are experimentally verified by performing insertion tests with a SCARA-type robot.

Copyright © 1995 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.





Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In