Analysis of dynamic assembly using passive compliance

Robotic peg-in-hole assembly is a very complex dynamic process. A complete analysis of the geometric and dynamic equilibrium conditions has established a general assembly model for a certain goal: to understand the mechanism of dynamic insertion and the development of compliant devices capable of avoiding wedging and jamming in high speed assembly operation. This paper presents a dynamic model which includes the different factors influencing the behaviour of assembly processes such as: gravity, inertia, dry friction, compliance and insertion speed. The simulation of proposed model allows us to choose the optimal parameters of dynamic compliance device. An application of this work is presented as a development of compliance device for high speed and precision chamferless assembly.