Type Synthesis of Hybrid Compliant Mechanisms for Peg-in-Hole Assembly

被引：3
|
作者：
Song Y. [1 ]
Guo Z. [1 ]
Wang P. [1 ]
Sun T. [1 ]
Lian B. [1 ,2 ]
机构：
[1] Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin
[2] Department of Mechanical Engineering, Tianjin University Ren'ai College, Tianjin
来源：
Tianjin Daxue Xuebao (Ziran Kexue yu Gongcheng Jishu Ban)/Journal of Tianjin University Science and Technology | 2020年 / 53卷 / 06期
基金：
中国国家自然科学基金;
关键词：
Deformation control; Instantaneacs screw; Peg-in-hole assembly; Type synthesis;
D O I：
10.11784/tdxbz201906034
中图分类号：
学科分类号：
摘要：
Passive assembly is an important method in peg-in-hole assembly. The assembly and reaction forces result in adaptive deformation of the compliant mechanism, which depends on the deformation to compensate for the position and angular deviations. As the key point of a passive assembly device, the performance of compliant mechanisms determines whether the assembly is successful or not. Therefore, a kind of hybrid compliant wrist with five degrees of freedom, which is composed of two parallel compliant modules with 2T1R(T and R denote translational and rotational motions, respectively)and 3R mobility, was proposed and designed in this study. First, a novel passive assembly device was proposed. Then, using screw as a mathematical tool, a general process for configuration synthesis of parallel complaint mechanisms is proposed. Available limbs were generated on the basis of the deformation conditions of the plate spring and the assembly principles. Finally, the 3-RFS-3-RFS hybrid compliant mechanism was selected for the peg-in-hole assembly. The finite element simulation showed that the hybrid compliant mechanism can adjust the displacement and angle errors well. Moreover, flexibility in all directions is changeable by no more than 0.05% and with no difference in all angles. A peg-in-hole assembly test bench was built. The assembly test results show that the assembly success rate can reach 90% and 80% for peg and hole pairs with diameters of 20 and 10mm, respectively. © 2020, Editorial Board of Journal of Tianjin University(Science and Technology). All right reserved.
引用
收藏
页码：582 / 592
页数：10
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