Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 4 of 4
Full-Text Articles in Mechanical Engineering
Admittance Selection For Force-Guided Assembly Of Polygonal Parts Despite Friction, Shuguang Huang, Joseph M. Schimmels
Admittance Selection For Force-Guided Assembly Of Polygonal Parts Despite Friction, Shuguang Huang, Joseph M. Schimmels
Mechanical Engineering Faculty Research and Publications
An important issue in the development of force guidance assembly strategies is the specification of an appropriate admittance control law. This paper identifies conditions to be satisfied when selecting the appropriate admittance to achieve force-guided assembly of polygonal parts for multipoint contact with friction. These conditions restrict the admittance behavior for each of the various one-point and two-point contact cases and ensure that the motion that results from contact reduces part misalignment for each case. We show that, for bounded friction and part misalignments, if the identified conditions are satisfied for a finite number of contact configurations and friction coefficients, …
Robust Procedures For Obtaining Assembly Contact State Extremal Configurations, Pan Feng, Joseph M. Schimmels
Robust Procedures For Obtaining Assembly Contact State Extremal Configurations, Pan Feng, Joseph M. Schimmels
Mechanical Engineering Faculty Research and Publications
Two important components in the selection of an admittance that facilitates force-guided assembly are the identification of: 1) the set of feasible contact states, and 2) the set of configurations that span each contact state, i.e., the extremal configurations. We present a procedure to automatically generate both sets from CAD models of the assembly parts. In the procedure, all possible combinations of principle contacts are considered when generating hypothesized contact states. The feasibility of each is then evaluated in a genetic algorithm based optimization procedure. The maximum and minimum value of each of the 6 configuration variables spanning each contact …
Sufficient Conditions For Admittance To Ensure Planar Force-Assembly In Multi-Point Frictionless Contact, Shuguang Huang, Joseph M. Schimmels
Sufficient Conditions For Admittance To Ensure Planar Force-Assembly In Multi-Point Frictionless Contact, Shuguang Huang, Joseph M. Schimmels
Mechanical Engineering Faculty Research and Publications
An important issue in the development of force guidance assembly strategies is the specification of an appropriate admittance control law. This paper identifies procedures for selecting the appropriate admittance to achieve reliable planar force-guided assembly for multi-point contact cases. Conditions that restrict the admittance behavior for each of the various types of two-point contact are presented. These conditions ensure that the motion that results from contact reduces part misalignment for each case. We show that, for bounded misalignments, if the conditions are satisfied for a finite number of contact configurations, the conditions ensure that force guidance is achieved for all …
Sufficient Conditions Used In Admittance Selection For Planar Force-Guided Assembly, Shuguang Huang, Joseph M. Schimmels
Sufficient Conditions Used In Admittance Selection For Planar Force-Guided Assembly, Shuguang Huang, Joseph M. Schimmels
Mechanical Engineering Faculty Research and Publications
Admittance control approaches show significant promise in providing reliable force-guided assembly. An important issue in the development of these approaches is the specification of an appropriate admittance control law. This paper identifies procedures for selecting the appropriate admittance to achieve reliable planar force-guided assembly for single-point contact cases. A set of conditions that are imposed on the admittance matrix is presented. These conditions ensure that the motion that results from contact reduces part misalignment. We show that for bounded misalignment, if the conditions are satisfied for a finite number of contact configurations, the system ensures that force guidance is achieved …