The peg-in-hole assembly is a common and key operation for on-orbit tasks. Specially, the blind operation is required for some peg-in-hole assembly due to the varying lighting conditions and visual occlusion of limited space. Especially, it is crucial to achieve the peg-hole alignment by blind-search strategy. In this paper, a new translational blind-search strategy for peg-in-hole assembly considering contacts on the side surface applied in the aerospace field was proposed. A spiral search trajectory was firstly developed to cover the initial contact conditions between the peg and the hole. It should be noted that the position distribution of the initial peg-hole contact point was divided into the terminal surface and the side surface, which could be predicted based on the force/torque sensor applied on the manipulator. Following, position peg-hole alignment strategies adopting on the terminal surface and the side surface were presented, respectively. Moreover, a typical peg-in-hole dynamic model based on ADAMS software was built to explore the proposed blind-search strategy. Results showed it could obtain an accurate peg-hole alignment even if the peg-in-hole assembly tolerance error was rigid. Also, the contact force in the assembly process could be controlled less than 40N, which demonstrated the control stability of the proposed strategy.

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A New Translational Blind-Search Strategy for Peg-in-Hole Assembly Considering Contacts on the Side Surface

  • Haitao Jing,
  • Xiaolong Ma,
  • Jinglong Liu,
  • Huaiwu Zou,
  • Chongfeng Zhang,
  • Meng Chen

摘要

The peg-in-hole assembly is a common and key operation for on-orbit tasks. Specially, the blind operation is required for some peg-in-hole assembly due to the varying lighting conditions and visual occlusion of limited space. Especially, it is crucial to achieve the peg-hole alignment by blind-search strategy. In this paper, a new translational blind-search strategy for peg-in-hole assembly considering contacts on the side surface applied in the aerospace field was proposed. A spiral search trajectory was firstly developed to cover the initial contact conditions between the peg and the hole. It should be noted that the position distribution of the initial peg-hole contact point was divided into the terminal surface and the side surface, which could be predicted based on the force/torque sensor applied on the manipulator. Following, position peg-hole alignment strategies adopting on the terminal surface and the side surface were presented, respectively. Moreover, a typical peg-in-hole dynamic model based on ADAMS software was built to explore the proposed blind-search strategy. Results showed it could obtain an accurate peg-hole alignment even if the peg-in-hole assembly tolerance error was rigid. Also, the contact force in the assembly process could be controlled less than 40N, which demonstrated the control stability of the proposed strategy.