Numerical simulation of parts alignment under kinematical excitation

Abstract

This paper deals with peg-hole parts alignment under kinematical excitation of the peg. Mathematical model for nonimpact regime of parts alignment was made. Graphical dependencies of alignment duration on initial pressing force, tilt stiffness, friction coefficient and excita-tion frequencies were obtained. The areas of parameters sets were determined for stable and reliable alignment of the parts. Properly chosen parameters of dynamical system and vibratory excitation allow reliable alignment of the parts during robotized assembly.