Peg-in-hole by using a fixture with passive compliance function (1st report, construction of peg-in-hole task model by using a fixture with passive RCC function under quasi-static analysis)

Abstract

This paper presents a new and effective assembly model by using a fixture with passive RCC function. Previously, in a peg-in-hole task, such functions for skillful assembly as RCC, contact force sensing and so on have been supplied to a "peg-deyice" like a hand-manipulator, not a "hole-device" like a fixture. Therefore the characteristics of a fixture with passive RCC function in this task is investigated in this paper. The peg in hole task model by using the "RCC fixture" is constructed on vertical (x-z) plane. And the performance of this task is investigated by the quasi-static analysis, which was proposed by Whitney, to evaluate the characteristics of it. From the results of the analysis, it has been made clear that the RCC fixture has shown the insertion behavior unlike conventional RCC applied to a peg near the entrance of hole.