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IJAT Vol.2 No.4 pp. 305-311
doi: 10.20965/ijat.2008.p0305
(2008)

Paper:

Realization of Pressfitting by Impact Manipulation Using an Under-Actuated Manipulator

Shinichiro Shindo, Shingo Tomita, and Yasumichi Aiyama

University of Tsukuba
1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan

Received:
September 29, 2007
Accepted:
February 28, 2008
Published:
July 5, 2008
Keywords:
impact manipulation, genetic algorithm, under-actuated manipulator
Abstract

Impact manipulation instantaneously generates a large force making it effective for pressfitting. We model pressfitting and analyze it for realization by a robot manipulator, analyzing the relationship between hit speed and pressfitting depth to determine the hit speed required for different pressfitting depths. We use an under-actuated manipulator for hitting the “sweet spot” of the end effector, introducing a simple genetic algorithm to plan manipulator movement to generate the desired hit speed. Results of experiments on pressfitting for driving an under-actuated manipulator verified the feasibility of our proposal.

Cite this article as:
Shinichiro Shindo, Shingo Tomita, and Yasumichi Aiyama, “Realization of Pressfitting by Impact Manipulation Using an Under-Actuated Manipulator,” Int. J. Automation Technol., Vol.2, No.4, pp. 305-311, 2008.
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