Abstract

This paper addresses automatic assembly with passive rather than active compliant devices. Previous work has shown that in an ideal manufacturing environment three assembly primitives (prismatic insertions, threaded fits and general path insertions) exhibit a high level of difficulty. None of these are reliably assemblable under sensor-based force control or with an ordinary remote center compliance (RCC) device. In this paper, we extend the science of part mating and apply dexterity theory to synthesize a passive assembly device for precision fits of three-dimensional prismatic parts. This Spatial Remote Center Compliance (SRCC) obviates sensor-based and force control approaches to precision assembly of nonaxisymmetric parts.

Issue Section:
Research Papers
Topics:
Design, Force control, Manufacturing, Sensors
1.
Nevins, J. L., and Whitney, D. E., Concurrent Design of Product & Processes: A Strategy for the Next Generation in Manufacturing, McGraw-Hill Inc.
2.
Strip, D. R., “Insertion Using Geometric Analysis and Hybrid Force-Position Control: Method and Analysis,” Proc. 1988 IEEE Int’l. on Robotics and Automation.
3.
Nicolson, E. J., and Feering, R. S., “Dynamics Modeling of Part mating Problem: Threaded Fastener Insertion,” Proc. 1991 IEEE/RSJ Int’l Workshop on Intelligent Robots and Systems, pp. 30–37.
4.
Eppinger
 
S. D.
, and
Seering
 
W. P.
,
1992
, “
Three Dynamic Problems in Robot Force Control
,”
IEEE Trans. on Robotics and Automation, December
, Vol.
8
, No.
6
, pp.
751
–
758
.
5.
Drake, S. H., Watson, P. C., and Simunovic, S. H., 1977, “High Speed Assembly Using Compliance Instead of Sensory Feedback,” Proc. of the 7th Int’l. Symp. of Industrial Robots, pp. 87–97.
6.
Whitney
 
D. E.
,
1982
, “
Quasi-Static Assembly of Compliantly Supported Rigid Parts
,”
ASME Journal of Dynamic Systems, Measurement and Control
, Vol.
104
, March, pp.
65
–
77
.
7.
Caine, M. E., 1985, “Chamferless Assembly of Rectangular Parts in Two and Three Dimensions,” Master Thesis, Dept. of Mechanical Engineering, MIT, June.
8.
Strip, D. R., 1988, “Technology For Robotic Mechanical Assembly: Force-Directed Insertions,” AT&T Technical Journ.
9.
Strip, D. R., 1988, “A Passive Mechanism for Insertion of Convex Pegs,” Sandia National Laboratories.
10.
Sturges, R. H., “A Three Dimensional Assembly Task Quantification with Application to Machine Dexterity,” Int’l Journ. of Robotics Research, Vol. 7, No. 4.
11.
Sturges, R. H., and Laowattana, S., “Virtual Wedging in Three Dimensional Peg Insertion Task,” Proc. 1992 IEEE/RSJ Int’l. Conference on Intelligent Robots and Systems.
12.
Asada, H., and Li, S. H., “Automated Robotic Assembly Using a Vibratory Table: Optimal Tuning of Vibrators Based on the Taguchi Method,” Proc. 1992, Japan/USA Symposium on Flexible Automation, Vol. 2, pp. 1531–1538.
13.
Paetsch, W., and Wichert, G. V., “Solving Insertion Tasks with a Multi-fingered Gripper by Fumbling,” Proc. 1993 IEEE Int’l. Conf. on Robotics and Automation, Vol. 3, pp. 173–179.
14.
McCarragher, B. J., and Asada, H., “A Discrete Event Approach to the Control of Robotic Assembly Tasks,” Proc. 1993 IEEE Int’l Conf. on Robotics and Automation, Vol. 1, pp. 331–336.
15.
Whitney
 
D. E.
, and
Rourke
 
J. M.
,
1986
, “
Mechanical Behavior and Design Equations for Elastomer Shear Pad Remote Center Compliances
,”
ASME Journal of Dynamic Systems, Measurement, and Control
, Sept. 1986, Vol.
108
, pp.
223
–
232
.
16.
Sturges, R. H., and Laowattana, S., 1993, “Invention Disclosure: Spatial RCC,” a US patent application of 15 Dec.
17.
Avallone, E. A., and Baumeister III, T., 1992, Marks’ Standard Handbook for Mechanical Engineers—9th Edition, McGraw-Hill Book Company.
18.
Erdmann
 
M.
,
1992
, “
Randomization in Robot Tasks
,”
International Journal of Robotics Research
, Vol.
11
, No.
5
, pp.
399
–
436
.
19.
Phillips, J., 1984, Introducing Screw Theory, Volume 1, Cambridge University Press.
This content is only available via PDF.
Copyright © 1996
 by The American Society of Mechanical Engineers
You do not currently have access to this content.