Analysis of task constraints for three dimensional insertion

การวิเคราะห์เงื่อนไขบังคับของงานประกอบสามมิติ

Name: Djitt Laowattana

Organization : King Mongkut's University of Technology Thonburi. Institute of Field Robotics (FIBO)

Name: ชิต เหล่าวัฒนา

keyword: Flexible machines

; เครื่องจักรประกอบแบบยืดหยุ่นได้

Abstract: Flexible assembly machines may be improved and costs reduced by relaxing constraints on part fixturing accuracy and employing compliant devices in assembly effectors. An effectors-mounted remote center comcliance device that corrects for spatial misalignments of prismatic parts of general cross section has recently been demonstrated. This spatial RCC was designed by considering the possible assembly contact states given a range of initial position and orientation uncertainty between the mating parts. These contact states are arranged in a constraint netwaork in the fashion of a Petri-Net controller. However, the control transitions are mediated by compliances reacting to contact forces rather than from force sensing and discrete event controller schemes. A path through the constraint network of a square peg and hole task is foun from initial to final assembly states. This path defines a single compliance relationship that is realized with an practical assembly device. Extensions of this design technique to other assembly tasks are discussed

King Mongkut's University of Technology Thonburi

Address: Bangkok

Email: info.lib@mail.kmutt.ac.th

Created: 2002

Issued: 2550-02-13

Modified: 2008-11-14

บทความ/Article

BibliograpyCitation : KMUTT Research and Development Journal vol. 21, no. 2 (Jun.-Dec. 2002), p. 14-37

CallNumber: 12002059

eng

©copyrights King Mongkut's University of Technology Thonburi

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