A passive compliant wrist for chamferless peg-in-hole assembly operation from vertical and horizontal directions

摘要

This paper presents a chamferless vertical/horizontal remote centre compliance (CVHRCC)mechanism developed for robotic peg-in-hole assembly operations. The wrist adopts the passiveaccommodation approach and differs from other devices in its category in its ability to accommodatepositional errors between the mating parts without a chamfer on either part. In addition, the wrist isdesigned to work from both the vertical and the horizontal directions. A series of experiments havebeen carried out for testing the new wrist. The main conclusion of the assembly experiments is thatthe CVHRCC can work effectively from the vertical direction in accommodating positional errorsbetween chamferless mating parts with large clearance (over 0.2 mm) between the peg and hole.