A probe into active-passive compliant device for robotic peg-in-hole assembly

作者：Ouyang, Fan; Zhang, Tie; Chen, Yang

来源：Journal of South China University of Technology(Natural Science Edition), 2016, 44(7): 61-69.

DOI：10.3969/j.issn.1000-565X.2016.07.010

• Active compliance
• Damping control
• Internal surfaces
• Motion control card
• Passive compliance
• Peg-in-hole assembly
• Resistance moments
• Three-axis motion

In this paper, the conditions for the jamming-free peg-in-hole assembly of holes with coarse internal surface are analyzed, and a magnetic force-based active-passive compliant device is designed to avoid the jamming. In this device, a passive compliant section connected by repulsive magnetic force is used to separate the shaft from the end-effector in the process of assembly. Thus, both resistance and resistance moment significantly decrease. After that, a rotational push-pull active compliant section connected by magnetic force is employed to generate a torque for the escape of shaft from jamming point. In addition, a three-axis motion platform with open-structured motion control card and a one-dimension force sensor are deployed to conduct experiments for four pairs of shaft and hole with different diameters. The results indicate that the designed active-passive compliant device can effectively avoid the jamming in the assembly process of holes with coarse internal surface, and that the assembly can be finished within 10 seconds, which means that the proposed device and the corresponding damping control algorithm are both effective.

• 出版日期2016-7-1
• 单位华南理工大学