Passive Alignment Principle for Robotic Assembly between a ring and a shaft with Extremely Narrow Clearance

Takahashi, Junji; Fukukawa, Tomoya; Fukuda, Toshio

doi:10.1109/tmech.2015.2448639

Cited by 27 publications

(10 citation statements)

References 21 publications

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“…The calibration of the mechanism reduces the effect of manufacturing and assembly errors of the links significantly. However, the errors produced by joint clearances can not be correctly compensated by the calibration methods [3]. Moreover, joint clearances are necessary for the relative motion between the links; therefore, they are the most important source of error that affects the accuracy and repeatability of the mechanisms [4].…”

Section: Introductionmentioning

confidence: 99%

A Fuzzy Approach for the Kinematic Reliability Assessment of Robotic Manipulators

Lara-Molina

Dumur

2021

Robotica

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SUMMARY This paper aims at developing a novel method to assess the kinematic reliability of robotic manipulators based on the fuzzy theory. The kinematic reliability quantifies the probability of obtaining positioning errors within acceptable limits. For this purpose, the fuzzy reliability evaluates the effect of the joint clearances on the end-effector position to compute a failure possibility index. As an alternative to the conventional methods reported in the literature, this failure possibility index conveys a novel assessment of the kinematic performance. The numerical results are compared with the well-known probabilistic approach based on the Monte Carlo simulation.

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Section: Introductionmentioning

confidence: 99%

A Fuzzy Approach for the Kinematic Reliability Assessment of Robotic Manipulators

Lara-Molina

Dumur

2021

Robotica

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“…In recent years, automatic assembly using manipulator has a significant impact on the cost and quality of products [1][2]. A typical shaft-hole assembly using a manipulator is shown in Fig.…”

Section: Introductionmentioning

confidence: 99%

Design and Modeling of Series-Parallel Compliant Device for Reliable Assembly Under Position/Angle Deviation

2021

Preprint

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Automatic assembly using manipulator has attracted increasing attention due to low cost and high quality of assembly. As the manipulator is entirely rigid, it often causes assembly failure and even damages the manipulator when there is a position or angle deviation. A series-parallel compliant device is developed here to realize the reliable assembly under the position or the angle deviation and does not produce a significant contact force. Its core idea is that when the contact force exceeds a specific value, this device becomes compliant and can move in a particular direction. It guarantees that this assembly allows a relatively significant misalignment and produces a small force, protecting parts and manipulators. This device has two compliant components, and these two components are connected using a rigid block. Each compliant component consists of the rigid frame, the four elastic limbs with a similar ‘n’ shape, and the square block. Due to using the elastic material, each elastic limb is equivalent to a compliant hinge (or spring), making this designed device equal to a series-parallel compliant structure. In this way, this device becomes compliant and can move in a particular direction when the contact force exceeds a specific value. On this basis, the desired compliance of the device is realized in various directions depending on the compliant device, and an optimization method is designed to achieve the parameters of this device based on the kinematic model and the stiffness analysis. Experiments under different working conditions are carried out and demonstrate the reliable assembling performance of this designed device even if there exists the position deviation or the angle deviation.

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“…The calibration of the mechanism reduces the effect of manufacturing and assembly errors of the links significantly. However, the errors produced by joint clearances can not be correctly compensated by the calibration methods [1]. Moreover, joint clearances are necessary for the relative motion between the links; therefore, they are the most important source of error that affects the accuracy and repeatability of the mechanisms [2].…”

Section: Introductionmentioning

confidence: 99%

Fuzzy Kinematic Reliability of a Cartesian Parallel Manipulator with Clearances

Lara-Molina

Dumur

2020

2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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This paper presents a novel method to assess the kinematic reliability of parallel manipulators based on the fuzzy theory. For this purpose, the error propagation method permits to compute the position error in the endeffector, taking into account the clearances, and the kinematic constraints of the parallel manipulator. The failure possibility conveys an assessment of the insight kinematic performance that can not be obtained by the conventional methods used in the literature. Numerical results are compared with the well known probabilistic approach based on the Monte Carlo Simulation (MCS).

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Passive Alignment Principle for Robotic Assembly between a ring and a shaft with Extremely Narrow Clearance

Cited by 27 publications

References 21 publications

A Fuzzy Approach for the Kinematic Reliability Assessment of Robotic Manipulators

A Fuzzy Approach for the Kinematic Reliability Assessment of Robotic Manipulators

Design and Modeling of Series-Parallel Compliant Device for Reliable Assembly Under Position/Angle Deviation

Fuzzy Kinematic Reliability of a Cartesian Parallel Manipulator with Clearances

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