Dynamic analysis of vibratory insertion process
- 2 August 2011
- journal article
- research article
- Published by Emerald in Assembly Automation
- Vol. 31 (3), 275-283
- https://doi.org/10.1108/01445151111150613
Abstract
Purpose: The paper aims to investigate theoretically and experimentally the process of compliantly supported peg insertion into a bush for high‐speed assembly, when vibrations are provided to the bush in the axial direction, and to analyse the influence of the parameters of the dynamic system and excitation on the assembly process.Design/methodology/approach: The mathematical model of parts vibratory insertion process is formed and the simulation is performed using a numerical computing software environment. The model includes inertia, compliance, dry friction, insertion speed and vibratory excitation. The three‐dimensional simulation of peg‐in‐hole insertion is accomplished using motion analysis software to test the influence of vibratory excitation on assembly failures, such as jamming and wedging. The experimental setup for the robotic vibratory assembly and the investigation methodology were presented. The experimental analysis of the vibratory insertion process of cylindrical parts with clearance is performed when the compliantly supported peg is inserted by the robot into the bush, which is excited in the axial direction.Findings: The vibratory excitation allows preventing the balance between the insertion force and frictional forces and so to avoid jamming and wedging. It is advantageous to select such the frequency of vibrations under which the resonance state of the compliantly supported peg does not occur. The parameters of vibratory excitation and initial assembly state are defined which have the principal influence on the insertion duration and the success of the process. The experimental results show the applicability of the mathematical approach.Research limitations/implications: The assumption is made that the chamferless rigid peg moves in a plane in respect of the rigid bush with a chamfer. Also, it is considered that there is no impact during the peg and bush contact. The dynamic and static friction coefficient between the parts is equivalent and the insertion speed is constant.Practical implications: The results can be useful aiming to design the reliable high‐performance vibratory assembly equipment for peg‐hole type parts, which does not require sensors, feedback systems and control algorithms.Originality/value: The proposed method of applying the vibratory excitation during the peg‐in‐hole insertion process allows to avoid jamming and wedging, and to minimize the duration of the process.Keywords
This publication has 11 references indexed in Scilit:
- Alignment of parts in automatic assembly using vibrationsAssembly Automation, 2007
- Dynamic analysis of assembly process with passive compliance for robot manipulatorsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2004
- An Assembly Process Modeling and Analysis for Robotic Multiple Peg-in-holeJournal of Intelligent & Robotic Systems, 2003
- Analysis of dynamic insertion type assembly for manufacturing automationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Analysis of dynamic assembly using passive compliancePublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Robotic assembly: chamferless peg-hole assemblyRobotica, 1999
- Precise Robotic Chamferless Peg-Hole Insertion Operation Without Force Feedback and Remote Centre Compliance (RCC)Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 1994
- The Dynamic Analysis and Design of a High-Speed Insertion Hand Using the Generalized Centroid and Virtual MassJournal of Dynamic Systems, Measurement, and Control, 1990
- Robotic assembly: a synthesizing overviewRobotica, 1987
- Quasi-Static Assembly of Compliantly Supported Rigid PartsJournal of Dynamic Systems, Measurement, and Control, 1982