A precision inserting operation into a stepped hole without chamfer using SCARA.

摘要

The present paper deals with a precision inserting operation into the stepped hole without chamfer. Since there is a step in the hole, the peg-in-hole becomes a hard operation. To accomplish this complicated assembly, it is necessary to combine both active sensing and passive compliance. First, for active sensing, a force/torque sensor is used to recognize the contact state between parts. A SCARA (selective compliance assembly robot arm) corrects the lateral error from data of the sensor. Second, for passive compliance, the RCC (remote center compliance) device is used to avoid jamming and wedging. In this way, the algorithm of inserting a peg into the stepped hole without chamfer is constructed. This algorithm has three features : the use of the upper hole, the restriction on operational directions of the peg and the point-to-point operation between parts. The usefulness of this algorithm is shown by experimental results.