Abstract
One problem that arises during component assembly is that small error in relative position or angular position can produce large forces. These forces can prevent successful completion of the assembly (jamming) arid can cause damage to the parts or the assembly machine/robot. To overcome these problems, it's normal to use a Remote Centre Compliance (RCC) device. The limitation of the RCC is that it can only be used for top-down (vertical) assembly, and also the mating parts must have a chamfer to facilitate the assembly operation. The approach presented here is a new strategy for chamferless peg-hole assembly from X/Y/Z directions. An investigation and a comparison between the vertical and horizontal assembly are presented followed by a simulation programme for testing the new strategy. The major conclusion is that both assembly methods have same assembly conditions (as long as we take into consideration the gravitational force), and that the coefficient of friction has to be as small as possible.
| Original language | English |
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| Pages | 90-95 |
| Number of pages | 6 |
| State | Published - 1997 |
| Event | Proceedings of the 1997 IEEE International Symposium on Assembly and Task Planning, ISATP'97 - Marina del Ray, CA, USA Duration: 7 Aug 1997 → 9 Aug 1997 |
Conference
| Conference | Proceedings of the 1997 IEEE International Symposium on Assembly and Task Planning, ISATP'97 |
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| City | Marina del Ray, CA, USA |
| Period | 7/08/97 → 9/08/97 |