An Automatic Assembly Control Method for Peg and Hole Based on Multidimensional Micro Forces and Torques

Shen, Fei; Zhang, Zhengtao; Xu, De; Zhang, Juan; Wu, Wei

doi:10.1007/s12541-019-00131-y

Cited by 12 publications

(3 citation statements)

References 15 publications

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“…The force-compliant assembly method adjusts the contact force by adjusting the pose between components. They can be categorized as passive compliant based on compliant devices [3] and active compliant based on force feedback control [4,5].…”

Section: Introductionmentioning

confidence: 99%

A simulation approach for determining maximal control cycle time in force-compliant assembly under contact force/torque constraints

Wang,

Qie,

Kong

et al. 2024

J. Phys.: Conf. Ser.

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Determining the maximum force feedback control cycle time for an assembly task at a given force/torque threshold is an important basis for designing and evaluating the corresponding force-compliant assembly method. For this issue, this paper proposes a simulation method for determining the maximum force feedback cycle time. The feasible region of the assembly process pose is determined by Monte Carlo simulation. Based on the particle swarm optimization, the pose and motion direction that generate the maximum contact force are found in the feasible region. Finally, dynamic simulation is carried out to determine the maximum force feedback control cycle. Experiments carried out for single-hole assembly show that the proposed approach can effectively determine the maximum force feedback control cycle time, and has a comparative advantage in convergence and total time consumption.

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Section: Introductionmentioning

confidence: 99%

A simulation approach for determining maximal control cycle time in force-compliant assembly under contact force/torque constraints

Wang,

Qie,

Kong

et al. 2024

J. Phys.: Conf. Ser.

View full text Add to dashboard Cite

show abstract

“…Micro-assembly is used to manipulate millimeter-sized or smaller components with micron accuracy. Recently, the micro-assembly technique has been widely applied to fields including aerospace, biomedical, materials science, and others MEMS, and micro-assembly robots have been developed for assembling micro-parts [ 1 , 2 , 3 ]. Micro-assembly robots are usually equipped with micro-vision for monitoring the assembly process [ 4 , 5 , 6 ].…”

Section: Introductionmentioning

confidence: 99%

Micro-Vision Based High-Precision Space Assembly Approach for Trans-Scale Micro-Device: The CFTA Example

Zhang

Dai

et al. 2023

Sensors

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For assembly of trans-scale micro-device capsule fill tube assemblies (CFTA) for inertial confinement fusion (ICF) targets, a high-precision space assembly approach based on micro-vision is proposed in this paper. The approach consists of three modules: (i) a posture alignment module based on a multi-vision monitoring model that is designed to align two trans-scale micro-parts in 5DOF while one micro-part is in ten microns and the other one is in hundreds of microns; (ii) an insertion depth control module based on a proposed local deformation detection method to control micro-part insertion depth; (iii) a glue mass control module based on simulation research that is designed to control glue mass quantitatively and to bond micro-parts together. A series of experiments were conducted and experimental results reveal that attitude alignment control error is less than ±0.3°, position alignment control error is less than ±5 µm, and insertion depth control error is less than ±5 μm. Deviation of glue spot diameter is controlled at less than 15 μm. A CFTA was assembled based on the proposed approach, the position error in 3D space measured by computerized tomography (CT) is less than 5 μm, and glue spot diameter at the joint is 56 μm. Through volume calculation by the cone calculation formula, the glue mass is about 23 PL when the cone height is half the diameter.

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“…Otherwise, it may cause damage to the peg or hole or directly cause assembly failure. Some researchers used fuzzy algorithm (Naghdy and Nguyen, 1998;Nguyen and Naghdy, 1995), reinforcement learning (Zhao et al, 2020;Hou et al, 2018) and other methods (Shen et al, 2019;Zhang et al, 2017;Tang et al, 2016) to primarily solve it. However, the manipulators used for insertion in these studies are industrial robots.…”

Section: Introductionmentioning

confidence: 99%

A peg-in-hole controller for cable-driven serial robots with compliant wrist based on cable tensions and joint positions

Lou

Quan

Lin

et al. 2021

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Purpose This purpose of this paper is to design a peg-in-hole controller for a cable-driven serial robot with compliant wrist (CDSR-CW) using cable tensions and joint positions. The peg is connected to the robot link through a CW. It is required that the controller does not rely on any external sensors such as 6-axis wrist force/torque (F/T) sensor, and only the compliance matrix’s estimated value of the CW is known. Design/methodology/approach First, the peg-in-hole assembly system based on a CDSR-CW is analyzed. Second, a characterization algorithm using micro cable tensions and joint positions to express the elastic F/T at the CW is established. Next, under the premise of only knowing the compliance matrix’s estimate, a peg-in-hole controller based on force/position hybrid control is proposed. Findings The experiment results show that the plug contact F/T can be tracked well. This verifies the validity and correctness of the characterization algorithm and peg-in-hole controller for CDSR-CWs in this paper. Originality/value First, to the authors’ knowledge, there is no relevant work about the peg-in-hole assembly task using a CDSR-CW. Besides, the proposed characterization algorithm for the elastic F/T makes the peg-in-hole controller get rid of the dependence on the F/T sensor, which expands the application scenarios of the peg-in-hole controller. Finally, the controller does not require an accurate compliance matrix, which also increases its applicability.

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An Automatic Assembly Control Method for Peg and Hole Based on Multidimensional Micro Forces and Torques

Cited by 12 publications

References 15 publications

A simulation approach for determining maximal control cycle time in force-compliant assembly under contact force/torque constraints

A simulation approach for determining maximal control cycle time in force-compliant assembly under contact force/torque constraints

Micro-Vision Based High-Precision Space Assembly Approach for Trans-Scale Micro-Device: The CFTA Example

A peg-in-hole controller for cable-driven serial robots with compliant wrist based on cable tensions and joint positions

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