Uncertainty and compliance of robot manipulators with applications to task feasibility
International Journal of Robotics Research
An Assembly Process Modeling and Analysis for Robotic Multiple Peg-in-hole
Journal of Intelligent and Robotic Systems
Servoing Mechanisms for Peg-In-Hole Assembly Operations
RobVis '01 Proceedings of the International Workshop on Robot Vision
A C. elegans-inspired micro-robot with polymeric actuators and online vision
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Hybrid microassembly combining robotics and water droplet self-alignment
IEEE Transactions on Robotics
Capillary Force Disturbances on a Partially Submerged Cylindrical Micromanipulator
IEEE Transactions on Robotics
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Robotic assembly is difficult as there always exist position errors between two mating parts. Compliance is added in a selective compliant assembly robot arm (SCARA) in the form of a two ionic polymer metal composite (IPMC) fingers based micro gripper. This micro gripper is integrated at the end effector position of a SCARA robot. Peg-hole interaction is analytically modeled and based on it the force required to correct the lateral and angular errors by IPMC is calculated. A proportional-derivative (PD) controller is designed to actuate the IPMC to get the desired force for correcting the peg position before assembly. Simulations and experiments were carried out by developing an IPMC micro gripper and using it to analyze various cases of peg in hole assembly. The experimental results prove that adding compliance through IPMC helps in peg-in-hole assembly.