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Peg-hole disassembly using active compliance.

Yongquan Zhang1,2, Hong Lu1, Duc Truong Pham2

  • 1School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan 430070, People's Republic of China.

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Summary
This summary is machine-generated.

Controlling the two-point contact region during peg-hole disassembly reduces jamming. This study analyzes compliance effects on contact states, predicting disassembly outcomes.

Keywords:
active compliancepeg–hole disassemblyremanufacturingremote centre compliance (RCC)robotic disassemblyrobotics

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Area of Science:

  • Robotics and Mechanical Engineering
  • Contact Mechanics
  • Assembly Processes

Background:

  • Peg-hole assembly and disassembly are fundamental in manufacturing and robotics.
  • Jamming and wedging during two-point contact increase disassembly forces and failure rates.
  • Understanding contact mechanics is crucial for efficient robotic manipulation and assembly.

Purpose of the Study:

  • To investigate the influence of compliance on peg-hole disassembly dynamics.
  • To identify key parameters affecting the two-point contact region during withdrawal.
  • To develop a predictive model for peg-hole disassembly based on contact states.

Main Methods:

  • Quasi-static analysis to determine boundary conditions of the two-point contact region.
  • Numerical simulations to analyze the effects of compliance degree, compliance center location, and initial position errors.
  • Experimental validation of active compliance strategies for peg-hole disassembly.

Main Results:

  • The two-point contact region, a source of jamming, is significantly influenced by compliance parameters.
  • Simulations demonstrated predictable changes in the contact region with varying compliance and initial errors.
  • Experimental results confirmed the theoretical model's ability to predict the range and position of the two-point contact region.

Conclusions:

  • Active compliance control can effectively manage the two-point contact region to facilitate smoother peg-hole disassembly.
  • The developed theoretical model provides a valuable tool for predicting and optimizing disassembly processes.
  • This research contributes to reducing assembly/disassembly failures and improving robotic manipulation efficiency.