Jamming and Wedging Analysis of Non-Rigid Assembly with Friction Contact

Xia, Yu; Bai, Yue Wei; He, Ya Fei

doi:10.4028/www.scientific.net/amm.29-32.183

Cited by 3 publications

(3 citation statements)

References 7 publications

(8 reference statements)

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“…The contact models based on force guidance were introduced in [ 21 ]. In [ 22 , 23 , 24 , 25 ], some researchers focused on the avoidance of jamming and wedging to obtain the assembly conditions. Recently, some researchers focused on the peg-in-hole assembly by using a dual-arm robot due to the human-like coordinated operation [ 26 , 27 , 28 , 29 , 30 ].…”

Section: Introductionmentioning

confidence: 99%

Peg-in-Hole Assembly Based on Two-phase Scheme and F/T Sensor for Dual-arm Robot

Zhang

Zheng

Ota

et al. 2017

Sensors

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This paper focuses on peg-in-hole assembly based on a two-phase scheme and force/torque sensor (F/T sensor) for a compliant dual-arm robot, the Baxter robot. The coordinated operations of human beings in assembly applications are applied to the behaviors of the robot. A two-phase assembly scheme is proposed to overcome the inaccurate positioning of the compliant dual-arm robot. The position and orientation of assembly pieces are adjusted respectively in an active compliant manner according to the forces and torques derived by a six degrees-of-freedom (6-DOF) F/T sensor. Experiments are conducted to verify the effectiveness and efficiency of the proposed assembly scheme. The performances of the dual-arm robot are consistent with those of human beings in the peg-in-hole assembly process. The peg and hole with 0.5 mm clearance for round pieces and square pieces can be assembled successfully.

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Section: Introductionmentioning

confidence: 99%

Peg-in-Hole Assembly Based on Two-phase Scheme and F/T Sensor for Dual-arm Robot

Zhang

Zheng

Ota

et al. 2017

Sensors

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“…This situation leads to jamming of the ring type parts on the shafts and to stoppages of the assembly processes (Pauli et al, 2001;Du et al, 2003;Xia et al, 2010).…”

Section: Introductionmentioning

confidence: 98%

“…In spite of the constructive simplicity of the assembly processes, the jamming of parts occurs due to one primary reason, that is, the declination of the ring type part axis relative to the axis of the shaft. This situation leads to jamming of the ring type parts on the shafts and to stoppages of the assembly processes (Pauli et al , 2001; Du et al , 2003; Xia et al , 2010).…”

Section: Introductionmentioning

confidence: 99%

Analyzing the jamming of parts on the shaft in assembly processes

Usubamatov

Adam

Harun

2012

Assembly Automation

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Users who downloaded this article also downloaded: (2012),"Assembly planning with automated retrieval of assembly sequences from CAD model information", Assembly Automation, Vol. 32 Iss 4 pp. 347-360 http://dx.If you would like to write for this, or any other Emerald publication, then please use our Emerald for Authors service information about how to choose which publication to write for and submission guidelines are available for all. Please visit www.emeraldinsight.com/authors for more information. About Emerald www.emeraldinsight.comEmerald is a global publisher linking research and practice to the benefit of society. The company manages a portfolio of more than 290 journals and over 2,350 books and book series volumes, as well as providing an extensive range of online products and additional customer resources and services.Emerald is both COUNTER 4 and TRANSFER compliant. The organization is a partner of the Committee on Publication Ethics (COPE) and also works with Portico and the LOCKSS initiative for digital archive preservation. AbstractPurpose -The purpose of this paper is to investigate the process of jamming of the hollow parts on the shaft and to derive a mathematical model for jamming in an assembly process. Design/methodology/approach -The mathematical model for jamming of parts on the shaft in an assembly process is based on the sizes, geometry, angular declination of part and shaft axes, and the frictional factor. Findings -The equation for angular positional tolerance of coaxial parts and shafts, based on their geometry and sizes and leading to jamming, was derived. Research limitations/implications -A mathematical model of parts jamming on the shaft is developed for assembly mechanisms. This research does not consider flexible deformations of components in assembly mechanisms, which results in the axis concentricity of part and shaft in the assembly process. Practical implications -The results presented in the form of angular positional tolerance for coaxial parts and shafts based on their geometry and sizes make it possible to avoid the jamming of the parts. The results allow for formulating the angular positional tolerance of the assembly mechanisms that clamp the parts. Originality/value -The proposed method for calculating the angular positional tolerance of coaxial parts and shafts for the assembly process should allow for increasing the reliability of the assembly process in the manufacturing industry.

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Analyses of peg‐hole jamming in automatic assembly machines

Usubamatov

Leong

2011

Assembly Automation

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PurposeThe purpose of this paper is to investigate theoretically the process of jamming in the peg‐hole type parts and to derive a mathematical model of jamming.Design/methodology/approachThe mathematical model of the jamming of the peg‐hole type parts in assembly process was performed and its boundary conditions, which lead to jamming, defined.FindingsThe equation of the critical angles of declination for the peg, which leads to the peg‐hole jam, was derived. The boundary condition of the angles of declination and the depth of the peg insertion into the hole were defined.Research limitations/implicationsA mathematical model is developed for rigid parts with a hole and for the peg clamped in the rigid assembly mechanisms. The research has not considered flexible deformations and stiffness of the assembly mechanisms, which result in the peg's declination in the assembly process.Practical implicationsThe results are represented in the form of the peg's critical angles of declination and critical depth of insertion into the hole, which leads to jamming of the peg‐hole type parts to be assembled. On the basis of the obtained results, it is possible to formulate the tolerances of the declination angles for the assembly mechanisms, which clamp the peg‐type parts.Originality/valueThe proposed method calculating the critical angles of the peg's declination and critical depth of the peg's insertion into the hole for assembly of the peg‐hole type parts, enables one to increase the reliability of the assembly process in the manufacturing industry.

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Jamming and Wedging Analysis of Non-Rigid Assembly with Friction Contact

Cited by 3 publications

References 7 publications

Peg-in-Hole Assembly Based on Two-phase Scheme and F/T Sensor for Dual-arm Robot

Peg-in-Hole Assembly Based on Two-phase Scheme and F/T Sensor for Dual-arm Robot

Analyzing the jamming of parts on the shaft in assembly processes

Analyses of peg‐hole jamming in automatic assembly machines

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