A hybrid contact state analysis methodology for robotic-based adjustment of cylindrical pair

Shirinzadeh, Bijan, Zhong, Yongmin, Tilakaratna, Prasan D.W., Tian, Yanling and Dalvand, Mohsen M. 2011, A hybrid contact state analysis methodology for robotic-based adjustment of cylindrical pair, International journal of advanced manufacturing technology, vol. 52, no. 1 to 4, pp. 329-342.

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Title A hybrid contact state analysis methodology for robotic-based adjustment of cylindrical pair
Author(s) Shirinzadeh, Bijan
Zhong, Yongmin
Tilakaratna, Prasan D.W.
Tian, Yanling
Dalvand, Mohsen M.
Journal name International journal of advanced manufacturing technology
Volume number 52
Issue number 1 to 4
Start page 329
End page 342
Total pages 14
Publisher Springer
Place of publication Berlin, Germany
Publication date 2011-01
ISSN 0268-3768
1433-3015
Keyword(s) lower pairs
dynamic adjustment
contact state determination
robotic manipulations
Summary The peg-in-hole insertion and adjustment operation is one of the most common tasks in the robotic and automatic assembly processes. Fine motion strategies associated with adjustment operations on a peg-in-hole are fundamental manipulations that can be utilised in dynamic assembly and reconfigurable workholding or fixturing systems. This paper presents a comprehensive study of robotic-based height adjustment of a cylindrical pair based on maintaining minimum contact forces between the links. The outer link is held by the end-effector of a six-DOF (Degrees of freedom) serial articulated robot manipulator. The environment represented by the inner link can be either static or dynamic. A force-based approach and a d value approach are established to determine the type of contact that exists between the links of a cylindrical pair, and to extract control parameters. Based on the comparison and analysis of these two approaches, a hybrid methodology is established by combining a d value approach with a force-based approach for contact state determination. Formulations capable of extracting necessary control parameters, which ensure minimum contact forces between the links, are established from both planar and spatial viewpoints under both static and dynamic environmental conditions. Experimental results demonstrate the effectiveness of the proposed methodology.
Language eng
Field of Research 091302 Automation and Control Engineering
091304 Dynamics, Vibration and Vibration Control
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category C1.1 Refereed article in a scholarly journal
Copyright notice ©2011, Springer
Persistent URL http://hdl.handle.net/10536/DRO/DU:30056238

Document type: Journal Article
Collection: Centre for Intelligent Systems Research
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