A new insertion strategy for a peg in an unfixed hole of the piston rod assembly
文献类型：期刊论文
| 作者 | Su, Jianhua ; Qiao, Hong; Liu, Chuankai; Ou, Zhicai
|
| 刊名 | INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY
 |
| 出版日期 | 2012-04-01 |
| 卷号 | 59期号:9-12页码:1211-1225 |
| 关键词 | Robotic assembly system Sensorless strategy Peg-piston-rod assembly |
| 通讯作者 | Su, Jianhua |
| 英文摘要 | Sensorless manipulation strategies have been successfully used in the precision robotic assembly. Most previous work in this area has concentrated on inserting a peg into a fixed hole. However, in some cases, e.g., the assembly of piston-peg-rod of the automotive engine, due to the motion of piston, the position of the hole in piston is hard to be fully constrained. The purpose of this paper is to give a novel sensorless manipulation strategy for the high-precision assembly of a peg into an unfixed hole. Firstly, a decomposition method of the high-dimensional configuration space of the peg hole is analyzed. Subsequently, the robotic manipulations are proposed in the two low-dimensional spaces decomposed from the high-dimensional configuration space. Then, the attractive regions formed in the two sub-spaces are constructed, thus, the position and orientation uncertainties of the peg hole can be eliminated by the attractive regions and the robotic manipulations. Finally, a typical industry application, fitting a peg into an unfixed piston rod hole of the automotive engine, is used to validate the presented strategy. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Engineering, Manufacturing |
| 研究领域[WOS] | Automation & Control Systems ; Engineering |
| 关键词[WOS] | SEARCH |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000302103400031 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3002]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组 |
| 作者单位 | Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Su, Jianhua,Qiao, Hong,Liu, Chuankai,et al. A new insertion strategy for a peg in an unfixed hole of the piston rod assembly[J]. INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY,2012,59(9-12):1211-1225. |
| APA | Su, Jianhua,Qiao, Hong,Liu, Chuankai,&Ou, Zhicai.(2012).A new insertion strategy for a peg in an unfixed hole of the piston rod assembly.INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY,59(9-12),1211-1225. |
| MLA | Su, Jianhua,et al."A new insertion strategy for a peg in an unfixed hole of the piston rod assembly".INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 59.9-12(2012):1211-1225. |
入库方式： OAI收割
来源：自动化研究所
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