Generalized model for a force-sensing grip on a peg

Authors:
A. Athalye;A. De Sam Lazaro;V. S. Manoranjan
Affiliations:
Department of Mechanical and Materials Engineering Washington State University, Pullman, WA 99164, USA;Department of Mechanical and Materials Engineering Washington State University, Pullman, WA 99164, USA;Department of Mathematics Washington State University, Pullman, WA 99164, USA
Venue:
Mathematical and Computer Modelling: An International Journal
Year:
1992

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Abstract

Force sensing is an alternate to expensive vision systems for precision positioning of a manipulator. In some operations, such as peg-in-hole assembly and precision welding, the position of the end-effector of a manipulator is to be determined to an accuracy greater than that of the manipulator itself. This involves sensing and correcting the position of the manipulator in order to affect the manufacturing operation. A friction point configuration of a gripper has been selected. The effects of a non-coaxial disturbing force on this grip will be presented. A method of ascertaining the positional error (x, y and @q) between the peg and the hole based on the sensing at the gripping points will be described. The model is based on a rectangular peg and is extended to pegs of various cross sections.