engleski

An algorithm of part repositioning for automatic insertion

The wedging and jamming problem in flexible automatic assembly systems, due to relative position error between the parts, in a process of insertion, frequently causes the halting of assembly process. This paper presents an algorithm which calculates displacements that enable repositioning of the part in order to achieve a successful insertion. The algorithm uses the force and torque values produced by collision of the parts during assembly.

automatic assembly; insertion; chamferless peg in hole

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