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, 2007Accepted:February 28, 2008Published:July 5, 2008
Keywords:impact manipulation, genetic algorithm, under-actuated manipulator
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:S. Shindo, S. Tomita, and Y. Aiyama, “Realization of Pressfitting by Impact Manipulation Using an Under-Actuated Manipulator,” Int. J. Automation Technol., Vol.2 No.4, pp. 305-311, 2008.Data files: