Published: 31 December 2007

Analysis of insertion process for robotic assembly

S. Kilikevicius1
B. Bakšys2
Views 0
Reads 0
Downloads 1001

Abstract

Insertion process of cylindrical parts with clearance for robotic assembly using vibratory excitation is analyzed in the paper. Mathematical model of vibratory parts insertion process, which determines peg contact with the chamfer of the bush, peg one point and two point contact with the bush hole, was formed. Simulation of cylindrical parts insertion process was performed. The influence of vibrations on the insertion process, when mobile based peg is kinematically excited in axial direction, was determined. The combinations of excitation and system parameters, under which insertion process duration is the shortest and the process is the most reliable, were detected

About this article

Received
16 August 2007
Accepted
10 October 2007
Published
31 December 2007
Keywords
peg-in-hole
vibrations
robotic assembly
simulation