A NOVEL AND PRACTICAL STRATEGY FOR THE PRECISE CHAMFERLESS ROBOTIC PEG HOLE INSERTION

The influence of the angle between the axes of the peg and hole (angul ar error) and the contact surface defects on the measurement of deviat ion (lateral error) have been carefully analysed. It has been shown th at they would influence the measurement of the magnitude of deviation and even its direction. This phenomenon causes severe difficulty in th e assembly operations. A novel strategy for the high-precision chamfer less peg hold insertion with a wrist force sensor is presented. This s trategy is constructed: (1) to obtain the relationship between the peg and hole from the force sensor signal when an angle between the axes of the peg and hole exists and defects of the contact surfaces are pre sent. (2) to reduce the angular and lateral errors, (3) to achieve the precise chamferless robotic peg hole insertion. In this paper, the in sertion can be obtained with a reasonably large range of initial condi tions. The principle is to move and rotate the peg from an area having many geometric uncertainties to a new area, where the deviation of th e peg and hole can be obtained.