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A new insertion strategy for a peg in an unfixed hole of the piston rod assembly

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Abstract

Sensorless manipulation strategies have been successfully used in the precision robotic assembly. Most previous work in this area has concentrated on inserting a peg into a fixed hole. However, in some cases, e.g., the assembly of piston–peg–rod of the automotive engine, due to the motion of piston, the position of the hole in piston is hard to be fully constrained. The purpose of this paper is to give a novel sensorless manipulation strategy for the high-precision assembly of a peg into an unfixed hole. Firstly, a decomposition method of the high-dimensional configuration space of the peg hole is analyzed. Subsequently, the robotic manipulations are proposed in the two low-dimensional spaces decomposed from the high-dimensional configuration space. Then, the attractive regions formed in the two sub-spaces are constructed, thus, the position and orientation uncertainties of the peg hole can be eliminated by the attractive regions and the robotic manipulations. Finally, a typical industry application, fitting a peg into an unfixed piston rod hole of the automotive engine, is used to validate the presented strategy.

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Authors and Affiliations

  1. Institute of Automation, Chinese Academy of Sciences, Room 705, Automation Building, No.95, Zhongguancun EastRoad, Beijing, 100190, People’s Republic of China

    Jianhua Su, Hong Qiao, Chuankai Liu & Zhicai Ou

Authors
  1. Jianhua Su
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  2. Hong Qiao
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  3. Chuankai Liu
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  4. Zhicai Ou
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Correspondence to Jianhua Su.

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Su, J., Qiao, H., Liu, C. et al. A new insertion strategy for a peg in an unfixed hole of the piston rod assembly. Int J Adv Manuf Technol 59, 1211–1225 (2012). https://doi.org/10.1007/s00170-011-3569-y

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  • DOI: https://doi.org/10.1007/s00170-011-3569-y

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