OS10-2 Motion selection for 3D robotic snap assembly

Title:	OS10-2 Motion selection for 3D robotic snap assembly
Publication:	ICAROB2018
Volume:	23
Pages:	490-493
ISSN:	2188-7829
DOI:	10.5954/ICAROB.2018.OS10-2
Author(s):	Peihao Shi, Kensuke Harada, Weiwei Wan, Ixchel G. Ramirez, Juan Rojas, Hiromu Onda
Publication Date:	February 2, 2018
Keywords:	Robotic Assembly, Snap joints, Strain Energy
Abstract:	In this paper, we aim to provide an assembly method for a snap joints assembly task. We create a 3D cellphone model and use ADAMS simulation environment to analyze the relative motion between screen and backer part. We focus on two points in this research. 1) Two kinds of relative motion between the screen and backer parts, i.e., the rotationbased and the translation-based methods, are compared, and 2) difference between assembly and disassembly is analyzed. By using the maximum elastic energy in an assembly process, we show that 1) the rotation-based assembly motion has better robustness than the translation-based assembly motion in cellphone assembly tasks when we set the same initial position error, and 2) The rotation-based assembly method is more effective for snap joint disassembly.
PDF File:	https://alife-robotics.co.jp/members2018/icarob/data/html/data/OS_pdf/OS10/OS10-2.pdf
Copyright:	© The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/

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