Hostname: page-component-78c5997874-s2hrs Total loading time: 0 Render date: 2024-11-03T08:24:54.307Z Has data issue: false hasContentIssue false

Development of a pneumatic vibratory wrist for robotic assembly

Published online by Cambridge University Press:  09 March 2009

Kyu Won Jeong
Affiliation:
Department of Production Engineering, Korea Advanced Institute of Science and Technology, P.O. Box 150, Chongryangri, Seoul (Korea)
Hyung Suck Cho
Affiliation:
Department of Production Engineering, Korea Advanced Institute of Science and Technology, P.O. Box 150, Chongryangri, Seoul (Korea)

Summary

In this paper a pneumatic vibratory wrist operated with a PWM controller is developed for robotic assembly. In the vibratory assembly system, the vibratory wrist can perform random search motion of a hole to compensate the position error at the early stage of an insertion process. Since the vibration characteristics of the wrist, such as the amplitude and trajectory of the vibration, are critical to assembly performance, they are experimentally investigated for various system controller parameters. In addition, a series of insertion experiments are performed to evaluate the assembly performance of the proposed wrist. The results show that within a wide range of operating conditions the wrist vibration can effectively compensate for large positioning errors when this wrist is used for a chamferless peg-in-hole task.

Type
Research Article
Copyright
Copyright © Cambridge University Press 1989

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Cho, H.S., Warnecke, H.J. and Gweon, D.G., “Robotic assembly: a synthesizing overviewRobotica 5, 153165 (1987).CrossRefGoogle Scholar
2.Whitney, D.E., “Quasi-static assembly of compliantly supported rigid partsJ. Dynam. Systems, Measur. Control. 104, 6577 (03, 1982).Google Scholar
3.Savishchenko, V.M. and Bespalov, V.G., “The orientation of components for automatic assemblyRussian Engineering J. 45, No. 5, 5052 (1965).Google Scholar
4.Karelin, N.M. and Girel, A.M., “The accurate alignment of parts for automatic assemblyRussian Engineering J. 47, No. 9, 7376 (1967).Google Scholar
5.Andreev, G.Ya. et al. , “Assembly joints by magnetic method of orientationRussian Engineering J. 56, No. 4, 6871 (1976).Google Scholar
6.Girel, A.M., “Using a rotation magnetic field for the grippers of industrial robotsRussian Engineering J. 57, No. 6, 4345 (1977).Google Scholar
7.Unimation Inc., “Programmed manipulator apparatus for assembly partsUK patent spec.1437003 (05 1976).Google Scholar
8.Hoffman, B.D., Pollack, S.H. and Weissman, B., “Vibratory Insertion Process: A new approach to nonstandard component insertionRobot 8, 8–1 ~ 810 (07 31, 1985).Google Scholar
9.Warnecke, H.J., Frankenhauser, B., Gweon, D.G. and Cho, H.S., “Fitting of crimp contacts to connectors using industrial robots supported by vibrating toolsRobotica 6, No. 2, 123129 (1988).CrossRefGoogle Scholar
10.Burrows, C.R., Fluid Power Servomechanisms (Van Nostrand Reinhold Co., London, 1972).Google Scholar
11.Andersen, B.W., The Analysis and Design of Pneumatic Systems (John Wiley & Sons, New York, 1967).CrossRefGoogle Scholar
12.Shearer, J.L., “Study of pneumatic process in the continuous control of motion with compressed air I, IITrans, of the ASME 78, No. 2, 233249 (02, 1956).Google Scholar
13.Lee, S.G. and Cho, H.S., “On the development of a PWM control-based pneumatic servomechanismInt. Symp. on Fluid Control and Measurement, Tokyo 3746 (09. 2–6, 1985).Google Scholar
14.Morita, Y., Shimizu, M., and Kagawa, T., “An analysis of pneumatic PWM and its application to a manipulatorInt.Symp.on Fluid Control and Measurement, Tokyo 38 (09. 2–6, 1985).Google Scholar
15.Noritsugu, T., “Pulse-Width-Modulated feedback force control of a pneumatically powered robot hand” Int. Symp. on Fluid control and Measurement, Tokyo 4752 (09 2–6, 1985).Google Scholar