INSERTION FORCE RECOGNITION BY MODELLING AND SIMULATION OF ASSEMBLY SYSTEMS WITH ACCOMODATORS

This paper concerns passive compliance devices, where compensation takes place as the direct effect of the contact forces generated between the parts during insertions in assembly tasks. These devices contain compliant elastic elements which can flex to correct initial errors. The present work focuses on evaluating insertion force in relation to the different passive compliance device design parameters. Theoretical model of insertion task is implemented in a simulation program capable of specifying the parameters indicating insertion progress and the insertion field.