An Automatic Assembly Control Method for Peg and Hole Based on Multidimensional Micro Forces and Torques

doi:10.1007/s12541-019-00131-y

	An Automatic Assembly Control Method for Peg and Hole Based on Multidimensional Micro Forces and Torques
	Shen, Fei1,2 ; Zhang, Zhengtao1 ; Xu, De1 ; Zhang, Juan 2; Wu, Wenrong 2
刊名	INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING
	2019-08-01
卷号	20 期号:8 页码:1333-1346
关键词	Automatic assembly Micro forces control Micro torques control
ISSN号	2234-7593
DOI	10.1007/s12541-019-00131-y
通讯作者	Zhang, Zhengtao(zhengtao.zhang@ia.ac.cn)
英文摘要	In this paper, an automatic assembly method for peg and hole based on multidimensional micro forces and torques is developed for satisfying the accurate and lossless assembly requirements. The relationship between the forces and torques from the force sensor and the attitudes deviation of peg and hole is discussed. Moreover, a novel method based on active constraint state for estimating the deviation angles between the peg and the hole through the toques exerted on the sensor is proposed. To achieve automated insertion and minimize the contact forces and torques in the meanwhile during the insertion process, a control strategy for controlling contact forces and torques is proposed by eliminating the position and attitudes deviation interactively. Related assembly experiments are conducted to verify the effectiveness of the proposed approaches.
资助项目	National Natural Science Foundation of China[61503378] ; National Natural Science Foundation of China[61473293] ; National Natural Science Foundation of China[61803354] ; Science Challenge Project[0006] ; Foundation of Laboratory of Precision Manufacturing Technology CAEP[ZD17003]
WOS关键词	CONTROL-SYSTEM ; FEEDBACK
WOS研究方向	Engineering
语种	英语
出版者	KOREAN SOC PRECISION ENG
WOS记录号	WOS:000476793100006
资助机构	National Natural Science Foundation of China ; Science Challenge Project ; Foundation of Laboratory of Precision Manufacturing Technology CAEP
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/27790]
专题	中国科学院自动化研究所
通讯作者	Zhang, Zhengtao
作者单位	1.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China 2.China Acad Engn Phys, Laser Fus Res Ctr, Mianyang 621900, Sichuan, Peoples R China
推荐引用方式 GB/T 7714	Shen, Fei,Zhang, Zhengtao,Xu, De,et al. An Automatic Assembly Control Method for Peg and Hole Based on Multidimensional Micro Forces and Torques[J]. INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING,2019,20(8):1333-1346.
APA	Shen, Fei,Zhang, Zhengtao,Xu, De,Zhang, Juan,&Wu, Wenrong.(2019).An Automatic Assembly Control Method for Peg and Hole Based on Multidimensional Micro Forces and Torques.INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING,20(8),1333-1346.
MLA	Shen, Fei,et al."An Automatic Assembly Control Method for Peg and Hole Based on Multidimensional Micro Forces and Torques".INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING 20.8(2019):1333-1346.