Hostname: page-component-cd9895bd7-jkksz Total loading time: 0 Render date: 2024-12-25T04:25:21.433Z Has data issue: false hasContentIssue false
  • English
  • Français

Robotic Assembly by Slight Random Movements

Published online by Cambridge University Press:  09 March 2009

F. Badano ,
M. Betemps ,
T. Redarce  and
A. Jutard
F. Badano
Affiliation:
Laboratoire d' Automatique Industrielle, Institut National des Sciences Appliquées, 20 Av. Albert Einstein, 69621 Villeurbanne Cedex (France)
M. Betemps
Affiliation:
Laboratoire d' Automatique Industrielle, Institut National des Sciences Appliquées, 20 Av. Albert Einstein, 69621 Villeurbanne Cedex (France)
T. Redarce
Affiliation:
Laboratoire d' Automatique Industrielle, Institut National des Sciences Appliquées, 20 Av. Albert Einstein, 69621 Villeurbanne Cedex (France)
A. Jutard
Affiliation:
Laboratoire d' Automatique Industrielle, Institut National des Sciences Appliquées, 20 Av. Albert Einstein, 69621 Villeurbanne Cedex (France)
Get access Rights & Permissions [Opens in a new window]

Summary

In this paper we develop a compilant system that permits robotic assembly of chamferless pieces. The idea is to absorb the positioning error between parts to be inserted by giving one of them a planar random movement. An actuator consisting of two axes (X and y) operated by an electromagnetic System is fitted to the work table; when its inputs are pseudo-random binary signais (P.R.B.S.) random motion is obtained. The trajectories of the actuator are analysed depending upon the P.R.B.S. parameters and a peg-in-a-hole assembly task is carried out. Experimental results show that large positioning errors can be compensated for chamferless insertions.

Keywords

Robotic assemblyRandom movementChamferless insertionPositioning error
Type
Article
Information
Robotica , Volume 9 , Issue 1 , January 1991 , pp. 23 - 29
Copyright
Copyright © Cambridge University Press 1991

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 overview” Robotica 5, 153–165 (1987).CrossRefGoogle Scholar
2.Nevins, J.L., “Folded remote center compliance device” U.S. Patent 4,355,469 (10 26, 1982).Google Scholar
2.Whitney, D.E., “Damped remote center compliance device” U.S. Patent 4,379,363 (04 12, 1983).Google Scholar
4.Jutard, A., Redarce, T., Fakri, A. and Betemps, M., “Geometric model of the DCR-LAI compilant device” Robotica 7, 151–157 (1989).CrossRefGoogle Scholar
5.Hoffman, B., Pollack, S. and Weissman, B., “Vibratory insertion process: a new approach to non-standard component insertion” Robot 8, 8–1–10 (1985).Google Scholar
6.Jeong, K. Won and Cho, H. Suck, “Development of a pneumatic vibratory wrist for robotic assembly” Robotica 7, 9–16 (1989).CrossRefGoogle Scholar
7.Jeong, K. Won and Cho, H. Suck, “Assembly performance of a robotic vibratory wrist” 6th Symposium on Information Control Problems in Manufacturing Technology, Madrid, Spain (09, 1989).Google Scholar
8.Ohishi, M., Kakinuma, T. and Yokoyama, S., “One procedure concerning the peg-hole insertion of the assembly process” 15th International Symposium on Industrial Robots 811–817 (1985).Google Scholar
9.Redarce, T., Fakri, A., Jutard, A. and Yonnet, J.P., “A compliant and electromagnetic table with partial levitation for robotic assembly” Proceedings of the 8th Annual British Robot Association ConferenceBirmingham, U.K. (14–1705, 1985).Google Scholar
10.Davies, W.D.T., System Identification for Self-Adaptive Control (Pitman Press, London, 1970).Google Scholar
11.Ye, N., Simon, J.P. and Betemps, M., “An automatic measurement System for robot static and dynamic performances” Proceedings of the IASTED International Symposium: Modelling, Identification and Control, Grindelwald, Switzerland (02 7–10, 1989).Google Scholar
12.Arai, T. and Kinoshita, N., “The part mating forces that arise when using a worktable with compliance” Assembly Automation I, No. 4, 204–210 (08, 1981).CrossRefGoogle Scholar