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Development of a pneumatic vibratory wrist for robotic assembly

Published online by Cambridge University Press:  09 March 2009

Kyu Won Jeong  and
Hyung Suck Cho
Kyu Won Jeong
Affiliation:
Department of Production Engineering, Korea Advanced Institute of Science and Technology, P.O. Box 150, Chongryangri, Seoul (Korea)
Hyung Suck Cho
Affiliation:
Department of Production Engineering, Korea Advanced Institute of Science and Technology, P.O. Box 150, Chongryangri, Seoul (Korea)
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Summary

In this paper a pneumatic vibratory wrist operated with a PWM controller is developed for robotic assembly. In the vibratory assembly system, the vibratory wrist can perform random search motion of a hole to compensate the position error at the early stage of an insertion process. Since the vibration characteristics of the wrist, such as the amplitude and trajectory of the vibration, are critical to assembly performance, they are experimentally investigated for various system controller parameters. In addition, a series of insertion experiments are performed to evaluate the assembly performance of the proposed wrist. The results show that within a wide range of operating conditions the wrist vibration can effectively compensate for large positioning errors when this wrist is used for a chamferless peg-in-hole task.

Keywords

Robotic AssemblyPneumatic Vibratory WristPositioning error
Type
Research Article
Information
Robotica , Volume 7 , Issue 1 , January 1989 , pp. 9 - 16
Copyright
Copyright © Cambridge University Press 1989

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