A hybrid contact state analysis methodology for robotic-based adjustment of cylindrical pair

Shirinzadeh, Bijan; Zhong, Yongmin; Tilakaratna, Prasan De Waas; Tian, Yanling; Dalvand, Mohsen Moradi

doi:10.1007/s00170-010-2705-4

Cited by 25 publications

(9 citation statements)

References 34 publications

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“…Fine motion of manipulator is adjusted. 3 The peg-in-hole problem is divided into four situations according to the force signals, and detailed force analysis and geometric model are listed to acquire the adjusting value. 4 A guidance strategy is put forward to solve the complex shape insertion task.…”

Section: Introductionmentioning

confidence: 99%

A novel approach for flexible manipulator conducting screwing task based on robot–environment contact classification

Zhang

Xie

Liu

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part C:

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Bolt screwing assembly task is a crucial part for robot fine manipulation. For widely applied flexible joints robot with six-dimensional force/torque sensor, data collected could not be seen as the contact force since it consists of internal force caused by deformation of the manipulator joints. Force analysis and geometric analysis could not be applied to judge the relative pose between robot end-effector and the environment. To this end, logistic regression method was used to classify the contact state by force signals. Besides, the criterion that bolt has entered the thread hole is also significant, while a boundary condition was proposed to solve this problem. A bolt screwing experiment was conducted to evaluate the proposed strategy, and the results demonstrate the effectiveness of the contact state classification and the boundary condition for judging the bolt entering the thread hole.

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Section: Introductionmentioning

confidence: 99%

A novel approach for flexible manipulator conducting screwing task based on robot–environment contact classification

Zhang

Xie

Liu

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…Their method was applied to assembly wheels to a car body. Shirinzadeh et al (2011) presented a robot-based height adjustment method for the assembly of cylindrical pairs. In their work, the peg-in-hole strategy was used by decreasing the contact forces between the manipulator and the fixture.…”

Section: Introductionmentioning

confidence: 99%

Study on dual peg-in-hole insertion using of constraints formed in the environment

Qiao

et al. 2017

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Purpose The purpose of this paper is to develop a dual peg-in-hole insertion strategy. Dual peg-in-hole insertion is the most common task in manufacturing. Most of the previous work develop the insertion strategy in a two- or three-dimensional space, in which they suppose the initial yaw angle is zero and only concern the roll and pitch angles. However, in some case, the yaw angle could not be ignored due to the pose uncertainty of the peg on the gripper. Therefore, there is a need to design the insertion strategy in a higher-dimensional configuration space. Design/methodology/approach In this paper, the authors handle the insertion problem by converting it into several sub-problems based on the attractive region formed by the constraints. The existence of the attractive region in the high-dimensional configuration space is first discussed. Then, the construction of the high-dimensional attractive region with its sub-attractive region in the low-dimensional space is proposed. Therefore, the robotic insertion strategy can be designed in the subspace to eliminate some uncertainties between the dual pegs and dual holes. Findings Dual peg-in-hole insertion is realized without using of force sensors. The proposed strategy is also used to demonstrate the precision dual peg-in-hole insertion, where the clearance between the dual-peg and dual-hole is about 0.02 mm. Practical implications The sensor-less insertion strategy will not increase the cost of the assembly system and also can be used in the dual peg-in-hole insertion. Originality/value The theoretical and experimental analyses for dual peg-in-hole insertion are proposed without using of force sensor.

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“…Tangjitsitcharoen et al [9] used the torque sensor to control the position of the shaft during the assembly by setting the limit of torque to stop the motor driver of machine. Shirinzadeh et al [10] presented a robotic-based height adjustment method for the assembly of a cylindrical pairs. In their paper, the peg-in-hole strategy was established by decreasing the contact forces between the manipulator and the fixture.…”

Section: Robotic Assembly With Force Sensormentioning

confidence: 99%

A new insertion strategy for a peg in an unfixed hole of the piston rod assembly

Qiao

2011

Int J Adv Manuf Technol

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Sensorless manipulation strategies have been successfully used in the precision robotic assembly. Most previous work in this area has concentrated on inserting a peg into a fixed hole. However, in some cases, e.g., the assembly of piston-peg-rod of the automotive engine, due to the motion of piston, the position of the hole in piston is hard to be fully constrained. The purpose of this paper is to give a novel sensorless manipulation strategy for the high-precision assembly of a peg into an unfixed hole. Firstly, a decomposition method of the high-dimensional configuration space of the peg hole is analyzed. Subsequently, the robotic manipulations are proposed in the two low-dimensional spaces decomposed from the high-dimensional configuration space. Then, the attractive regions formed in the two sub-spaces are constructed, thus, the position and orientation uncertainties of the peg hole can be eliminated by the attractive regions and the robotic manipulations. Finally, a typical industry application, fitting a peg into an unfixed piston rod hole of the automotive engine, is used to validate the presented strategy.

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A hybrid contact state analysis methodology for robotic-based adjustment of cylindrical pair

Cited by 25 publications

References 34 publications

A novel approach for flexible manipulator conducting screwing task based on robot–environment contact classification

A novel approach for flexible manipulator conducting screwing task based on robot–environment contact classification

Study on dual peg-in-hole insertion using of constraints formed in the environment

A new insertion strategy for a peg in an unfixed hole of the piston rod assembly

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