Abstract
This paper is concerned with achieving a higher rate at which a robot operation involving part mating can be carried out while free of excessive contact forces. It is shown that the rate is primarily limited by the robot end effector's lateral transient response to the contact forces, while the response depends mainly on the link inertia characteristics and joint compliances. Both factors were modelled and simulated for robots of SCARA configuration for the chamfer-crossing stage. The transient response predicted by the model led to determination of a varying-speed insertion motion for the chamfer-crossing stage to avoid large initial impacts between peg and hole and to limit the contact force during the entire stage. The discrepancy angle between the contact force and the resultant lateral motion was also considered. Good agreement was obtained between the transient response predicted in simulation and that observed in experiment.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
