SCARA based peg-in-hole assembly using compliant IPMC micro gripper

被引：77
|
作者：
Jain, R. K. [1 ]
Majumder, S. [1 ]
Dutta, A. [2 ]
机构：
[1] CMERI, CSIR, Design Mech Syst Grp, Micro Robot Lab, Durgapur 713209, WB, India
[2] Indian Inst Technol, Dept Mech Engn, Kanpur 208016, Uttar Pradesh, India
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2013年 / 61卷 / 03期
关键词：
Peg-in-hole assembly; SCARA; IPMC micro gripper; Compliant assembly; ELECTRIC CONNECTORS; FAULT-DETECTION;
D O I：
10.1016/j.robot.2012.12.001
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Robotic assembly is difficult as there always exist position errors between two mating parts. Compliance is added in a selective compliant assembly robot arm (SCARA) in the form of a two ionic polymer metal composite (IPMC) fingers based micro gripper. This micro gripper is integrated at the end effector position of a SCARA robot. Peg-hole interaction is analytically modeled and based on it the force required to correct the lateral and angular errors by IPMC is calculated. A proportional-derivative (PD) controller is designed to actuate the IPMC to get the desired force for correcting the peg position before assembly. Simulations and experiments were carried out by developing an IPMC micro gripper and using it to analyze various cases of peg in hole assembly. The experimental results prove that adding compliance through IPMC helps in peg-in-hole assembly. (c) 2012 Elsevier B.V. All rights reserved.
引用
收藏
页码：297 / 311
页数：15
相关论文
共 50 条
  • [21] Peg-in-Hole assembly under uncertain pose estimation
    Lin, L. L.
    Yang, Y.
    Song, Y. T.
    Nemec, B.
    Ude, A.
    Rytz, J. A.
    Buch, A. G.
    Kruger, N.
    Savarimuthu, T. R.
    2014 11TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA), 2014, : 2842 - 2847
  • [22] Feature-Based Compliance Control for Precise Peg-in-Hole Assembly
    Gai, Yuhang
    Guo, Jiuming
    Wu, Dan
    Chen, Ken
    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2022, 69 (09) : 9309 - 9319
  • [23] A peg-in-hole robot assembly system based on Gauss mixture model
    Song, Jingzhou
    Chen, Qingle
    Li, Zhendong
    ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2021, 67
  • [24] A Robotic Peg-in-Hole Assembly Strategy Based on Variable Compliance Center
    Wang, Sen
    Chen, Guodong
    Xu, Hui
    Wang, Zheng
    IEEE ACCESS, 2019, 7 : 167534 - 167546
  • [25] Learning-based Contact Status Recognition for Peg-in-Hole Assembly
    Yan, Chaojie
    Wu, Jun
    Zhu, Qiuguo
    2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2021, : 6003 - 6009
  • [26] Laser tracker-based control for peg-in-hole assembly robot
    Liu, Shuntao
    Liu, Chicheng
    Liu, Zhi
    Xie, Ying
    Xu, Jing
    Chen, Ken
    2014 IEEE 4TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (CYBER), 2014, : 569 - 573
  • [27] Robotic peg-in-hole assembly strategy research based on SARSA algorithm
    Li S.
    Yuan X.
    Niu J.
    Jisuanji Jicheng Zhizao Xitong/Computer Integrated Manufacturing Systems, CIMS, 2023, 29 (11): : 3669 - 3680
  • [28] Robotic Peg-in-Hole Assembly System Based on Vision and Fuzzy Control
    Zhang, Ziman
    Fang, Zaojun
    Lian, Hongyuan
    Zhang, Chi
    Yang, Guilin
    PROCEEDINGS OF THE 33RD CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2021), 2021, : 5835 - 5839
  • [29] Vision Based Pose Estimation of Multiple Peg-in-Hole for Robotic Assembly
    Nagarajan, Pitchandi
    Perumaal, S. Saravana
    Yogameena, B.
    COMPUTER VISION, GRAPHICS, AND IMAGE PROCESSING, ICVGIP 2016, 2017, 10481 : 50 - 62
  • [30] Research on Robotic Peg-in-Hole Assembly Method Based on Variable Admittance
    Zhang, Shenglun
    Wang, Youchen
    Liang, Shuo
    Han, Haobing
    Jiang, Zhouxiang
    Zhang, Meng
    APPLIED SCIENCES-BASEL, 2025, 15 (04):
12345