Abstract
In precision assembly, even small misalignment between two mating parts can cause large reaction forces and thus make the assembly task be impossible. This paper considers a vibratory assembly method which can compensate such misalignment for successful insertion task. For this purpose a PWM controller-based pneumatic vibratory wrist is used to investigate assembly performance such as search time, assembly force and correctable error range. Since they are critically dependent upon various system parameters, they were experimentally investigated for a chamferless peg-in-hole assembly task. Experimental results show that the proposed method yields good assembly performance; compensation of large initial error, fast searching and small reaction forces.
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