Searching for just a few words should be enough to get started. If you need to make more complex queries, use the tips below to guide you.
Article type: Research Article
Authors: Eshraghi, Kourosh; * | Jiang, Pingfei | Suraci, Daniele | Atherton, Mark
Affiliations: Department of Mechanical and Aerospace Engineering, Brunel University London, Uxbridge, UK
Correspondence: [*] Corresponding author. Email: Kourosh.eshraghi@brunel.ac.uk.
Abstract: Robotic assembly of mating parts (peg-in-hole (PiH)) inevitably encounters misalignments. Although passive end-effector compliance is key to successful alignment during the assembly, the literature does not propose many solutions for large misalignments, which is relevant to applications such as compliance of a robot end-effector for train fluid servicing. The results from physical experiments indicate insertion forces that are too large for practical applications, even with small misalignments. This preliminary study applies a hybrid approach combining physical experiments and simulation modelling for large motion PiH coupling with end-effector compliance. This provides a platform for investigating insertion force during misaligned coupling. The simulation model contains configurable parameters for robot compliance and PiH friction which are informed by the physical experiment results. The many robot compliances are lumped as two torsional springs on the pitch and yaw motion axis of the robot arm model. The simulation model is then calibrated using the physical results without having to conduct further intensive physical experiments. The calibrated model represents the physical measurements to a satisfactory degree, however its performance can still be improved.
Keywords: Compliant end-effector, passive compliance, design of experiments, automated fluid coupling, train maintenance
DOI: 10.3233/JID200017
Journal: Journal of Integrated Design and Process Science, vol. 24, no. 3-4, pp. 139-161, 2020
IOS Press, Inc.
6751 Tepper Drive
Clifton, VA 20124
USA
Tel: +1 703 830 6300
Fax: +1 703 830 2300
sales@iospress.com
For editorial issues, like the status of your submitted paper or proposals, write to editorial@iospress.nl
IOS Press
Nieuwe Hemweg 6B
1013 BG Amsterdam
The Netherlands
Tel: +31 20 688 3355
Fax: +31 20 687 0091
info@iospress.nl
For editorial issues, permissions, book requests, submissions and proceedings, contact the Amsterdam office info@iospress.nl
Inspirees International (China Office)
Ciyunsi Beili 207(CapitaLand), Bld 1, 7-901
100025, Beijing
China
Free service line: 400 661 8717
Fax: +86 10 8446 7947
china@iospress.cn
For editorial issues, like the status of your submitted paper or proposals, write to editorial@iospress.nl
如果您在出版方面需要帮助或有任何建, 件至: editorial@iospress.nl