Jamming problems and the effects of compliance in dual peg-hole disassembly

IF 2.9 3区 综合性期刊 Q1 MULTIDISCIPLINARY SCIENCES Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences Pub Date : 2024-03-20 DOI:10.1098/rspa.2023.0364
Farzaneh Goli, Yongquan Zhang, Mo Qu, Yue Zang, Mozafar Saadat, Duc Truong Pham, Yongjing Wang
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Abstract

Disassembly is a crucial step in remanufacturing and is currently mainly performed by humans. Automating disassembly can reduce labour costs and make remanufacturing more economically attractive. This paper focuses on identifying and characterizing a common disassembly task, dual peg-hole disassembly, with the aim of building a robotic disassembly system for this task. We enumerate the possible contact states and their geometric conditions during the extraction of two studs in a dual peg-hole. This paper focuses on jamming in the extraction and conducts geometrical and quasi-static analyses to determine the boundary conditions of jamming. Based on the analyses, this paper also investigates the role of active compliance as a solution to avoid jamming. We also simulate critical variables and examine key parameters such as the degree of compliance, the location of the compliance centre and initial position errors. Finally, we conduct experimental studies on dual peg-hole extraction with different compliance centres obtained using active compliance.

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双钉孔拆卸中的干扰问题和顺应性的影响
拆卸是再制造的关键步骤,目前主要由人工完成。拆卸自动化可以降低劳动力成本,使再制造更具经济吸引力。本文的重点是识别和描述常见的拆卸任务--双钉孔拆卸,目的是为这一任务构建一个机器人拆卸系统。我们列举了在双钉孔中拔出两个螺柱时可能出现的接触状态及其几何条件。本文重点关注拔出过程中的卡住现象,并进行了几何和准静态分析,以确定卡住的边界条件。在分析的基础上,本文还研究了主动顺应性作为避免卡塞解决方案的作用。我们还模拟了关键变量,并研究了关键参数,如顺从度、顺从中心位置和初始位置误差。最后,我们对使用主动顺应性获得的不同顺应性中心的双钉孔提取进行了实验研究。
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来源期刊
CiteScore
6.40
自引率
5.70%
发文量
227
审稿时长
3.0 months
期刊介绍: Proceedings A has an illustrious history of publishing pioneering and influential research articles across the entire range of the physical and mathematical sciences. These have included Maxwell"s electromagnetic theory, the Braggs" first account of X-ray crystallography, Dirac"s relativistic theory of the electron, and Watson and Crick"s detailed description of the structure of DNA.
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