A model and strategy analysis of the peg-hole system in the search process associated with robotic assembly operations without chamfers

摘要

Robotic peg-hole insertion operations can play a very important role in manufacturing industry because it is a common requirement in the manufacturing process and, it requires high precision and high speed. In general, this operation can be divided into two processes: Search process to engage the peg and the hole and, insertion process. The search process is critical in the assembly operation. It can be defined as a process where the angular.and the translational errors between the peg and the hole are reduced until insertion can occur.