Efficient Insertion of Multiple Objects Parallel Connected by Passive Compliant Mechanisms in Precision Assembly
文献类型：期刊论文
| 作者 | Xing, Dengpeng1 ; Lv, Yan2; Liu, Song3; Xu, De1; Liu, Fangfang1
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| 刊名 | IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
 |
| 出版日期 | 2019-09-01 |
| 卷号 | 15期号:9页码:4878-4887 |
| ISSN号 | 1551-3203 |
| 关键词 | Efficient insertion parallel connection passive compliance precision assembly |
| DOI | 10.1109/TII.2019.2897731 |
| 通讯作者 | Liu, Fangfang(fangfang.liu@ia.ac.cn) |
| 英文摘要 | This paper proposes an efficient strategy to simultaneously insert multiple objects, which are parallel connected by passive compliant mechanisms, in precision assembly. The distinctions of this task include: each object is held compliantly; multiple objects are parallel connected to a manipulator; not all the peg-in-hole has the same insertion condition; and high accuracy is required for each insertion. This configuration can provide sufficient compliance and improve insertion efficiency for massive precision assembly. We model the relationship between the state and force of a single compliant mechanism, and analyze the horizontal compliance of parallel mechanisms. Based on the model, with a fitting and optimization method the states of all but one compliant mechanisms are acquired from microscopic views and the remaining states are optimized with resultant forces provided by a force sensor. To efficiently plan the parallel insertion, we propose a strategy to horizontally compensate according to the resultant force and the horizontal compliance, and to vertically insert based on the insertion ratio expectation, the horizontal offsets of each individual insertion, and the horizontal force. Experiments are carried out to demonstrate the validation of the proposed method. |
| WOS关键词 | GRIPPER |
| 资助项目 | Science Challenge Project[TZ2018006-0204-02] ; National Nature Science Foundation of China[61673382] ; National Nature Science Foundation of China[61873266] ; National Nature Science Foundation of China[61733004] ; National Nature Science Foundation of China[TII-18-0673] |
| WOS研究方向 | Automation & Control Systems ; Computer Science ; Engineering |
| 语种 | 英语 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| WOS记录号 | WOS:000489584600004 |
| 资助机构 | Science Challenge Project ; National Nature Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/26612]  |
| 专题 | 精密感知与控制研究中心_精密感知与控制 |
| 通讯作者 | Liu, Fangfang |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, Beijing 100195, Peoples R China 2.Zhejiang A&F Univ, Sch Engn, Hangzhou 311300, Zhejiang, Peoples R China 3.Univ Southern Calif, Dept Elect Engn Electrophys, Los Angeles, CA 90089 USA |
| 推荐引用方式 GB/T 7714 | Xing, Dengpeng,Lv, Yan,Liu, Song,et al. Efficient Insertion of Multiple Objects Parallel Connected by Passive Compliant Mechanisms in Precision Assembly[J]. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,2019,15(9):4878-4887. |
| APA | Xing, Dengpeng,Lv, Yan,Liu, Song,Xu, De,&Liu, Fangfang.(2019).Efficient Insertion of Multiple Objects Parallel Connected by Passive Compliant Mechanisms in Precision Assembly.IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,15(9),4878-4887. |
| MLA | Xing, Dengpeng,et al."Efficient Insertion of Multiple Objects Parallel Connected by Passive Compliant Mechanisms in Precision Assembly".IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 15.9(2019):4878-4887. |
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