EXPERIMENTAL INVESTIGATION OF VIBRATORY ASSEMBLY WITH PASSIVE COMPLIANCE
AbstractThe paper presents an experimental investigation of peg-hole alignment and peg-in-hole insertion during the vibratory robotic assembly. The peg is compliantly supported in the remote compliance center device and the bushing is attached on the platform of an electrodynamic shaker. The vibratory excitation of the bushing is provided along the joining axis direction. The experimental setup with a CNC robot and the methodology for the investigation are presented. The evaluation of the vibratory alignment process considering on the vibrations amplitude and frequency, part-to-part pressing force and axial misalignment is made. The areas of successful alignment on the amplitude of vibrations and both the pressing force and axial misalignment are determined. The dependencies of peg-in-hole insertion stages durations on the parameters of vibrations are presented. It is determined that vibratory excitation during the insertion process makes it possible to avoid jamming and wedging.
DYNAMICS OF MECHANICAL SYSTEMS