Admittance matrix design for force-guided assembly

The authors address the design of manipulator admittance for reliable force-guided assembly. Their goal is to design the admittance of the manipulator so that, at all possible bounded part misalignments, the contact forces always lead to error-reducing motions. If this objective can be accomplished for a given pair of mating parts, the parts are called force-assemblable. As a testbed application of manipulator admittance design for force-guided assembly, the authors investigate the insertion of a workpiece into a fixture consisting of multiple rigid fixture to be one for which there exists an admittance matrix that ensures the unique positioning of a workpiece despite initial positional error. It is shown that, in the absence of friction, all deterministic fixtures are linearly force-assemblable. How to design an admittance matrix that guarantees that the workpiece will be guided into the deterministic fixture by the fixel contact forces alone is shown. >

[1]  R. Ball.  A treatise on the theory of screws, by Sir Robert Stawell Ball. , .

[2]  A. J. Goldman,et al.  Polyhedral Convex Cones , 1956 .

[3]  K. D. Tocher,et al.  Basic theorems in matrix theory , 1960 .

[4]  J. L. Nevins,et al.  The Force Vector Assembler Concept , 1972 .

[5]  Daniel E. Whitney,et al.  Force Feedback Control of Manipulator Fine Motions , 1977 .

[6]  Bernard Roth,et al.  An Extension of Screw Theory , 1981 .

[7]  Jr. J. Kenneth Salisbury,et al.  Kinematic and force analysis of articulated hands , 1982 .

[8]  Daniel E. Whitney,et al.  Quasi-Static Assembly of Compliantly Supported Rigid Parts , 1982 .

[9]  K. Sugimoto,et al.  Application of linear algebra to screw systems , 1982 .

[10]  B. Dizioglu,et al.  Mechanics of form closure , 1984 .

[11]  H. Harry Asada,et al.  Kinematic analysis of workpart fixturing for flexible assembly with automatically reconfigurable fixtures , 1985, IEEE J. Robotics Autom..

[12]  Josip Loncaric,et al.  Normal forms of stiffness and compliance matrices , 1987, IEEE Journal on Robotics and Automation.

[13]  H. Harry Asada,et al.  The dynamic RCC hand for high-speed assembly , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[14]  Van-Duc Nguyen,et al.  Constructing Force- Closure Grasps , 1988, Int. J. Robotics Res..

[15]  Kamal Youcef-Toumi,et al.  Kinematic methods for automated fixture reconfiguration planning , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[16]  Michael A. Peshkin,et al.  Synthesis and validation of nondiagonal accommodation matrices for error-corrective assembly , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[17]  Michael A. Peshkin,et al.  Programmed compliance for error corrective assembly , 1990, IEEE Trans. Robotics Autom..

[18]  H. Harry Asada,et al.  Teaching and learning of compliance using neural nets: representation and generation of nonlinear compliance , 1990, Proceedings., IEEE International Conference on Robotics and Automation.