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Abstract
Many kinds of peg-in-hole assembly strategies for an industrial robot have been reported in recent years. Most of these strategies are realized by utilizing visual and force sensors to assist robots. However, complex control algorithms that are based on visual and force sensors will reduce the assembly efficiency of a robot. This issue is thoughtless in traditional assembly strategies but is critical to further improve the efficiency of assembly automation. In this work, a new assembly strategy that is based on a displacement sensor and a variable compliant center is proposed to improve robot performance in assembly tasks. First, an elastic displacement device for this assembly strategy is designed, and its performance is analyzed. The displacement signal generated by the displacement sensor is used to detect the contact state of the peg and hole and to guide the robot to adjust the posture. Second, an assembly strategy, including the advantages of passive compliance and active compliance, and a simple assembly control system are designed to improve the assembly efficiency. Last, the effectiveness of the proposed assembly method is experimentally verified using a robot with 6 degrees of freedom and a chamferless peg and hole with a small clearance (0.1 mm). The experimental results show that the assembly strategy can successfully complete the precision peg-in-hole assembly and assist the robot in accurate assembly in industrial applications.
Highlights
In industrial production, assembly costs account for more than 50% of the total cost
Considering the precision peg-in-hole assembly as an example, when the tolerance between a peg and hole is less than 0.1 mm, the improper adjustment caused by the initial positional deviation of the peg and hole may cause the failure of the assembly; the peg may fail to enter the hole or become stuck in the hole
To simplify assembly control systems, improve assembly efficiency and reduce system cost, we propose an assembly strategy that is based on variable compliance centers
Summary
Assembly costs account for more than 50% of the total cost. S. Wang et al.: Robotic Peg-in-Hole Assembly Strategy Based on Variable Compliance Center complicated control system. Wang et al.: Robotic Peg-in-Hole Assembly Strategy Based on Variable Compliance Center complicated control system When the robot starts to assemble, the compliant center of the assembly peg will change due to the spring’s elasticity, and the displacement sensor will generate a signal to determine the contact state of the peg and hole By using the proposed elastic displacement device, the search method in the proposed assembly strategy, which only needs to combine the elastic displacement device and the Cartesian coordinate system position control of the robot, is simplified. The peg can be inserted into the hole without complicated pose adjustment
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