Purpose -The paper aims to investigate theoretically and experimentally the process of compliantly supported peg insertion into a bush for high-speed assembly, when vibrations are provided to the bush in the axial direction, and to analyse the influence of the parameters of the dynamic system and excitation on the assembly process. Design/methodology/approach -The mathematical model of parts vibratory insertion process is formed and the simulation is performed using a numerical computing software environment. The model includes inertia, compliance, dry friction, insertion speed and vibratory excitation. The three-dimensional simulation of peg-in-hole insertion is accomplished using motion analysis software to test the influence of vibratory excitation on assembly failures, such as jamming and wedging. The experimental setup for the robotic vibratory assembly and the investigation methodology were presented. The experimental analysis of the vibratory insertion process of cylindrical parts with clearance is performed when the compliantly supported peg is inserted by the robot into the bush, which is excited in the axial direction. Findings -The vibratory excitation allows preventing the balance between the insertion force and frictional forces and so to avoid jamming and wedging. It is advantageous to select such the frequency of vibrations under which the resonance state of the compliantly supported peg does not occur. The parameters of vibratory excitation and initial assembly state are defined which have the principal influence on the insertion duration and the success of the process. The experimental results show the applicability of the mathematical approach.Research limitations/implications -The assumption is made that the chamferless rigid peg moves in a plane in respect of the rigid bush with a chamfer. Also, it is considered that there is no impact during the peg and bush contact. The dynamic and static friction coefficient between the parts is equivalent and the insertion speed is constant. Practical implications -The results can be useful aiming to design the reliable high-performance vibratory assembly equipment for peg-hole type parts, which does not require sensors, feedback systems and control algorithms. Originality/value -The proposed method of applying the vibratory excitation during the peg-in-hole insertion process allows to avoid jamming and wedging, and to minimize the duration of the process.

Purpose This paper aims to consider the experimental and theoretical investigation of the vibratory alignment of the peg-hole, when the peg is fixed in the remote centre compliance (RCC) device, and the vibrations are provided either to the hole or to the peg. Design/methodology/approach The experimental analysis of the circular and rectangular peg-hole vibratory alignment using the attached to the robot arm RCC device, under vibratory excitation of the hole, has been performed. The parameters of the vibratory excitation and the part-to-part pressing force influence on the alignment process have been analysed. The mathematical approach of the vibratory alignment using the passive compliance device with the vibrations provided to the peg has been proposed, and the simulation has been carried out. Findings The research has approved the applicability of the RCC device for both of the vibratory alignments of the non-chamfered peg-hole parts either circular or rectangular ones. The compensation of the axial misalignments has been resulted by the directional displacement of the peg supported compliantly. To perform the successful alignment of the parts, it has been necessary to adjust the frequency and the amplitude of the vibrations, the pressing force, the lateral, as well as the angular stiffness of the device. Research limitations/implications The experiments on the vibratory alignment of the rectangular peg-hole parts have been carried out considering only the translational misalignment moved into one direction. The non-impact regime of the vibratory alignment has been analysed. Practical implications The obtained results can be applied in designing the reliable and efficient devices of the vibratory assembly for the alignment of the non-chamfered peg-hole parts, as well as for chamfered ones, if the axial misalignment exceeds the width of the chamfer. The vibratory technique and passive compliance provide possibility to accomplish the assembly operations using the non-expensive low accuracy robots. Originality/value The new method and the mathematical approach of the vibratory assembly using the RCC device can ensure the reliable alignment of the non-chamfered parts, chamfered circular and the rectangular ones, in case the axial misalignment exceeds the assembly clearance, and prevent jamming and wedging.

No abstract

No abstract

The paper deals with vibrational non-impact displacement of a mobile-based body on an inclined plane. Two cases are considered: when the body is subjected to kinematical excitement, and when the plane is excited in two perpendicular directions. This phenomenon is used in vibratory assembly devices, where vibration excitement compensates interdependent orientation errors of the components subjected to assembly. Transient and periodic regimes of the body motion from static to dynamic equilibrium are investigated. Dependencies of maximum displacement and average creeping displacement speed upon the elastic resistance force, body pressure to the plane force, the ratio of mutually perpendicular vibration amplitudes, and the phase of these vibrations are presented. The possibilities and conditions of automatic components assembling by applying vibration displacement are characterized.