By Topic

Information for assembly from impacts

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Soderquist, B.A. ; Robotics & Autonomous Mech. Syst., Linkoping Univ., Sweden ; Wernersson, A.

A method to determine gripper parameters in situ is given, and first results from model tests in plane motion are presented. Robotic assembly is associated with impacts on the gripper. These may be modeled to find contact force position and line of action in the gripper, relative orientation between gripper and contacted surface and conditions at the point of insertion. During impact the acceleration pole maps contact point kinematics which may be related to the conventional impact diagram. Kinematic modeling, dynamic and geometric modeling, and the impact diagram are discussed. The analysis shows that the point of application of the impacting force and its line of action may be found from measured accelerations

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992