Purpose The paper aims to propose an assembly scheme based on master鈥搒lave coordination for a compliant dual-arm robot to complete a peg-in-hole assembly task. Design/methodology/approach The proposed assembly scheme is inspired by the coordinated behaviors of human beings in the assembly ...
例句 释义: 全部 更多例句筛选 1. Study on Methodology of Setting Active Compliance Center for Peg-in-Hole Assembly Task 轴孔装配主动柔顺中心设置方法研究 ilib.cn 2. The Research Progress on Robot Peg-in-Hole Assembly Control Technology 机器人轴孔装配控制技术研究进展 ilib.com.cn隐私...
Abstract—This paper aims at solving mass precise peg-in-hole assembly. First, a feature space and a response space are constructed according to the relative pose and equivalent forces and moments. Then the contact states are segmented in the feature space and the segmentation boundaries are...
3 Peg-in-hole assembly control methods 3.1 Passive compliant mechanisms In a passive compliant mechanism, the robot relies on a supplemental mechanism to generate natural compliance with external forces when the end-effector tool makes contact with an object in the environment [69–71]. However, ...
The planetary robotic assembly control is a key technology that must be broken through in future planetary surface construction. The paper focuses on the most representative dual peg-in–hole assembly, which has sufficiently complex contact interaction, wide range of applications and good method ...
We proposed the definition of active compliance center forpeg-in-hole assemblytask on the basis of compliance. 在柔顺控制的基础上 ,提出了轴孔装配作业中主动柔顺中心的概念 ;针对具体的装配状态进行几何和力学分析 ,并在此基础上 ,详细分析了轴孔装配作业中主动柔顺中心的设置策略及主动柔顺中心区域。
Industrial robot manipulators are playing a more significant role in modern manufacturing industries. Though peg-in-hole assembly is a common industrial task which has been extensively researched, safely solving complex high precision assembly in an unstructured environment remains an open problem. Reinforc...
Using robots to assemble parts has always been a research hotspot, but the traditional analysis model of assembly mainly focuses on establishing the linear equation between the feedback force and the relative position of the peg and hole, which leads to high requirements for the material properties...
1) peg in hole 插轴入孔1. This paper analyzes part s geometry and forces of unchamfer peg in hole in detail. 本文对无倒角插轴入孔装配过程中工件几何尺寸与受力情况进行了详尽的分析,推导出一点接触和两点接触时,轴与孔的位置和角度偏差表达式,轴在孔中发生卡阻和楔紧状态的力学方程,给出了卡阻...
6) peg-in-hole assembly 轴孔装配 1. We proposed the definition of active compliance center for peg-in-hole assembly task on the basis of compliance. 在柔顺控制的基础上 ,提出了轴孔装配作业中主动柔顺中心的概念 ;针对具体的装配状态进行几何和力学分析 ,并在此基础上 ,详细分析了轴孔装配作业中...