Experimental investigation of cylindrical parts robotic vibratory insertion

Abstract

The process of peg insertion into a bush is ex-perimentally analyzed in the paper. The peg, which is based in a remote center compliance device, is inserted into excited in axial direction immobile based bush, under guaranteed clearance by a robot. Experimental setup of robotic vibratory assembly and investigation methodology were presented. Dependences of the durations of insertion process stages on insertion speed and excitation parameters of the bush were experimentally determined. The values of excitation parameters, when insertion process is reliable, were obtained. The influence of positioning error of as-sembling parts on insertion process and its reliability was detected.