Robot assembly theory and simulation of circular-rectangular compound peg-in-hole

摘要

In this paper, the assembly problem of circular-rectangular compound peg and hole parts in automatic assembly isproposed for the first time, and an automatic assembly method based on six-dimensional force sensor is summarized.Firstly, according to the quasi-static equilibrium condition, the contact states are summarized. It is concludedthat there are 7 categories of 44 contact states in insertion stage and the forces conditions to maintain each contactstate; Secondly, according to the analysis of the force/moment relationship, the jamming diagram is drawn, and theconditions of jamming are analyzed. Thirdly, the assembly strategy is discussed, including contact state recognitionstrategy, hole searching strategy, and pose adjustment strategy. Finally, combined with impedance control, theassembly theory is verified in ADAMS, and the assembly with minimum clearance of 0.1mm is achieved.