被挿入側に受動的コンプライアンス機能を有する組立作業 : 第1報,準静力学解析に基づくRCC機能を有する治具を用いた挿入モデルの構築(機械要素,潤滑,工作,生産管理など)

概要

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This paper presents a new and effective assembly model by using a fixture with passive RCC function. Previously, in a peg-in-hole task, such functions for skillful assembly as RCC, contact force sensing and so on have been supplied to a "peg-device" like a hand-manipulator, not a "hole-device" like a fixture. Therefore the characteristics of a fixture with passive RCC function in this task is investigated in this paper. The peg-in-hole task model by using the "RCC fixture" is constructed on vertical (x-z) plane. And the performance of this task is investigated by the quasi-static analysis, which was proposed by Whitney, to evaluate the characteristics of it. From the results of the analysis, it has been made clear that the RCC fixture has shown the insertion behavior unlike conventional RCC applied to a peg near the entrance of hole.
社団法人日本機械学会の論文
2002-10-25