Design of an Orthogonal Compliance for Polygonal Peg Insertion

[+] Author and Article Information
R. H. Sturges

Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213

S. Laowattana

Center of Operation for FI eld roBo tics (FIBO), King Mongkut’s Institute of Technology, Thonburi, Bangkok, 10140 Thailand

J. Mech. Des 118(1), 106-114 (Mar 01, 1996) (9 pages) doi:10.1115/1.2826840 History: Received December 01, 1994; Revised August 01, 1995; Online December 11, 2007


This paper addresses automatic assembly with passive rather than active compliant devices. Previous work has shown that in an ideal manufacturing environment three assembly primitives (prismatic insertions, threaded fits and general path insertions) exhibit a high level of difficulty. None of these are reliably assemblable under sensor-based force control or with an ordinary remote center compliance (RCC) device. In this paper, we extend the science of part mating and apply dexterity theory to synthesize a passive assembly device for precision fits of three-dimensional prismatic parts. This Spatial Remote Center Compliance (SRCC) obviates sensor-based and force control approaches to precision assembly of nonaxisymmetric parts.

Copyright © 1996 by The American Society of Mechanical Engineers
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