Automated Handling and Assembling of Non-Rigid Objects
Semiannual rept. no. 1, 15 Jan-15 Jul 1990
OHIO STATE UNIV COLUMBUS DEPT OF ELECTRICAL ENGINEERING
Pagination or Media Count:
Strategies for automatic assembly of deformable objects are presented in this paper. A flexible beam mating with a rigid hole is taken as the target of investigation. First, the deflection behavior of a deformable beam is studied. Then the geometric and force conditions for successfully assembly of rigid parts are reviewed. Based on these conditions of assembly, strategies for assembling deformable beams are proposed. The strategies are defined by the motion trajectory of the tool which handles the beam. It is found that when the clearance between the beam and the hole is loose, the desired trajectory should be the same as the curve formed by the deformed beam. When the clearance is tight, position and orientation of the tool should be adjusted, following the involute of the deformed beam curve. Experimental results are finally given to prove that the proposed strategies are effective.