Online ordering is currently unavailable due to technical issues. We apologise for any delays responding to customers while we resolve this. For further updates please visit our website: https://www.cambridge.org/news-and-insights/technical-incident
We use cookies to distinguish you from other users and to provide you with a better experience on our websites. Close this message to accept cookies or find out how to manage your cookie settings.
To save content items to your account,
please confirm that you agree to abide by our usage policies.
If this is the first time you use this feature, you will be asked to authorise Cambridge Core to connect with your account.
Find out more about saving content to .
To save content items to your Kindle, first ensure coreplatform@cambridge.org
is added to your Approved Personal Document E-mail List under your Personal Document Settings
on the Manage Your Content and Devices page of your Amazon account. Then enter the ‘name’ part
of your Kindle email address below.
Find out more about saving to your Kindle.
Note you can select to save to either the @free.kindle.com or @kindle.com variations.
‘@free.kindle.com’ emails are free but can only be saved to your device when it is connected to wi-fi.
‘@kindle.com’ emails can be delivered even when you are not connected to wi-fi, but note that service fees apply.
In this paper the authors present a mathematical model of geometric and kinematic behaviour of an original passive compliant device provided with two rotation centres, called DCR–LAI system. This device is designed for a robotic assembly of parts with very small tolerances including a chamfer at the hole. The given modélisation may be used as a decision aid for the choice of a compliant device with regard to characteristics of parts being assembled.
In this paper we develop a compilant system that permits robotic assembly of chamferless pieces. The idea is to absorb the positioning error between parts to be inserted by giving one of them a planar random movement. An actuator consisting of two axes (X and y) operated by an electromagnetic System is fitted to the work table; when its inputs are pseudo-random binary signais (P.R.B.S.) random motion is obtained. The trajectories of the actuator are analysed depending upon the P.R.B.S. parameters and a peg-in-a-hole assembly task is carried out. Experimental results show that large positioning errors can be compensated for chamferless insertions.
A path planning method is presented based on non-autonomous dynamic
modeling of open-loops in articulated systems. It is assumed that one part of
the mechanical system is submitted to specified motions laws, while movements of
the complementary part are free. Thus, motion optimization is related to free
joint movements but it is achieved on the basis of the dynamic model of the
whole mechanical system. This approach introduces a non-autonomous state
equation of a special type in the sense that it can not only depend on the
running time but also on the unknown travelling time. The cost function to be
minimized involves the travelling time and the actuating inputs. Optimization is
achieved by applying the Pontryagin Maximum Principle which yields a new
optimality condition concerning the travelling time dependency of the stated
problem. Two simulation examples are presented. The first one shows how the
developed technique makes possible both the reducing and mastering the dynamic
complexity of a four degrees of freedom-vertical manipulator. Set at four
degrees of freedom, the second one deals with a redundant planar manipulator
characterized by a mobile base that is submitted to a specified driving
motion.
Recommend this
Email your librarian or administrator to recommend adding this to your organisation's collection.