A hybrid contact state analysis methodology for robotic-based adjustment of cylindrical pair

Shirinzadeh, B, Zhong, Y, Tilakaratna, P, Tian, Y and Dalyand, M 2011, 'A hybrid contact state analysis methodology for robotic-based adjustment of cylindrical pair', International Journal of Advanced Manufacturing Technology, vol. 52, no. 1, pp. 329-342.


Document type: Journal Article
Collection: Journal Articles

Title A hybrid contact state analysis methodology for robotic-based adjustment of cylindrical pair
Author(s) Shirinzadeh, B
Zhong, Y
Tilakaratna, P
Tian, Y
Dalyand, M
Year 2011
Journal name International Journal of Advanced Manufacturing Technology
Volume number 52
Issue number 1
Start page 329
End page 342
Total pages 14
Publisher Springer
Abstract The peg-in-hole insertion and adjustment operation is one of the most common tasks in the robotic and automatic assembly processes. Fine motion strategies associated with adjustment operations on a peg-in-hole are fundamental manipulations that can be utilised in dynamic assembly and reconfigurable workholding or fixturing systems. This paper presents a comprehensive study of robotic-based height adjustment of a cylindrical pair based on maintaining minimum contact forces between the links.
Subject Mechanical Engineering not elsewhere classified
Keyword(s) Lower pairs
dynamic adjustment
contact state determination
and robotic manipulations
DOI - identifier 10.1007/s00170-010-2705-4
Copyright notice © Springer-Verlag London Limited 2011
ISSN 0268-3768
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Citation counts: TR Web of Science Citation Count  Cited 12 times in Thomson Reuters Web of Science Article | Citations
Scopus Citation Count Cited 11 times in Scopus Article | Citations
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