What is it about?
Robotic assembly in a dynamic environment or with limited knowledge of environment is a challenging task. Besides, various sensors are being used to perceive the environment, the noise and uncertainty in the process could lead to failure of assembly. In this regard, this paper aims to estimate the required insertion force and to analyze the influence of damping in a compliantly supported chamfered peg-in-hole assembly under dynamic conditions.
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Why is it important?
The developed assembly model can be used for predicting the insertion forces of a chamfered peg-in-hole assembly and for designing/selecting the compliance device for the required assembly environment.
Perspectives
This article lead to great understanding in the selection and the designing of the compliance devices in a contact controlled environment. Everyday robots has to deal with such contact controlled environments to perform various activities. In this regard, this paper could be an useful addition for the selection of compliance devices in a robotic assembly task
Mr Nagarajan Pitchandi
Thiagarajar College of Engineering
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This page is a summary of: Insertion force analysis of compliantly supported peg-in-hole assembly, Assembly Automation, August 2017, Emerald,
DOI: 10.1108/aa-12-2016-167.
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