Abstract
Peg-in-hole is one of the most frequent mating features between parts, where the large friction resistance and poor contact situations result in the failure of part mating. To address this problem, this paper proposes a screw insertion method in peg-in-hole assembly for axial friction reduction. First, the effect of screw motion on axial friction reduction is analyzed with point contact and face contact. Second, the screw insertion method in clearance-fit peg-in-hole assembly with point contact is discussed; this method works better than the conventional linear insertion method for jamming prevention; the reciprocate screw insertion strategy is also investigated to reduce the influence of axis offset on screw insertion. Third, the screw insertion method in interference-fit peg-in-hole assembly with face contact is discussed. Finally, axial friction reduction is validated with experiments of point contact with screw motion and experiments of screw insertion in clearance-fit and interference-fit peg-in-hole assembly.
Highlights
Is a capstone process in manufacturing [1], and peg-in-hole is one of the most frequent mating features between parts, which is the basic and vital problem for robotic assembly [2]
We propose a screw insertion method for peg-in-hole assembly, which combines the screw motion strategy with the conventional motion control approaches to reduce the axial frictional force, resulting in an increased area of jamming quadrangle and decreased jamming possibility
This paper proposes the screw insertion method for peg-inhole assembly which combines the screw motion strategy with the conventional motion control approach, resulting in reduced axial frictional force and better contact situations for mating process, which is well verified by the results of the point contact experiment and screw insertion experiment of both interference-fit and clearance-fit peg-in-hole assembly
Summary
Is a capstone process in manufacturing [1], and peg-in-hole is one of the most frequent mating features between parts, which is the basic and vital problem for robotic assembly [2]. Most failures of robotic peg-in-hole assembly occur because of large contact forces and poor contact situations between the peg and hole. To address this problem, researchers concentrate on contact state analysis and motion control of the peg-in-hole process. Simunovic [3] discussed a key ill situation for constrained insertion called jamming, in which the peg sticks in the hole because of a wrong proportion of forces and moments applied to the peg. Whitney [4] built the quasi-static model of the mating process and graphically demonstrated force equilibrium conditions for all the contact states in a jamming diagram.
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