پیوندهای مفید
آمار
| تعداد نشریات | 8 |
| تعداد شماره‌ها | 433 |
| تعداد مقالات | 5,620 |
| تعداد مشاهده مقاله | 7,369,613 |
| تعداد دریافت فایل اصل مقاله | 6,174,675 |
Theoretical and Numerical Analysis of Jamming Phenomenon in Positioning of Circular Workpiece on Horizontal Surface | ||
| AUT Journal of Mechanical Engineering | ||
| مقاله 10، دوره 4، شماره 4، اسفند 2020، صفحه 553-564 اصل مقاله (1.64 M) | ||
| نوع مقاله: Research Article | ||
| شناسه دیجیتال (DOI): 10.22060/ajme.2020.16132.5806 | ||
| نویسنده | ||
| Hadi Parvaz* | ||
| Faculty of Mechanical and Mechatronics Engineering, Shahrood University of Technology, Shahrood, Iran | ||
| چکیده | ||
| Grasping or positioning workpiece with circular geometry is a common process in fixture design and robotic manipulation systems. The typical two-contact mechanisms that are usually used for gripping or positioning of these kinds of workpieces are prone to jam. Determination of the conditions in which jamming occurs in such systems seems to be necessary for research purposes as well as industrial applications. In the present study, jamming of the workpiece with the circular cross-section is investigated during its positioning on the horizontal surface. The theoretical foundation is established based on two models as far as the force equilibrium equations and the minimum norm principle. Validation of the theoretical predictions is conducted through the numerical analysis in the Adams software. The distance that the workpiece should travel to jam is obtained from the numerical analysis and compared to the theoretical predictions. By assuming the coefficient of friction equal to 0.4 and the radius of the workpiece equal to 10mm, jamming-in travel of the workpiece was obtained as 24.38mm and 25.58mm from the theoretical models and numerical analysis, respectively. A relative error of 4.9% is obtained between the theoretical predictions and numerical results. This value indicates the accuracy of predictions of the suggested theoretical models and the credibility of their results. | ||
| کلیدواژه‌ها | ||
| Circular workpiece؛ Fixture design؛ Jamming analysis؛ Positioning؛ Robotic assembly | ||
| مراجع | ||
|
[1] J.S. Pang, J.C. Trinkle, G. Lo, A complementarity approach to a quasistatic multi-rigid-body contact problem, Computational Optimization and Applications, 5(2) (1996) 139-154. [2] P.E. Dupont, S.P. Yamajako, Jamming and wedging in constrained rigid body dynamics, in: Proceeding of the IEEE International Conference on Robotics and Automation, San Diego, 1994, pp. 2349-2354.
[3] J.C. Trinkle, D.C. Zeng, Prediction of the quasistatic planar motion of a contacted rigid body, IEEE Transactions on Robotics and Automation, 11(2) (1995) 229-246.
[4] J.C. Trinkle, S.L. Yeap, L. Han, When quasistatic jamming is impossible, in: IEEE International Conference on Robotics and Automation, Minneapolis, MN, USA, 1996, pp. 3401-3406.
[5] D.J. Balkcom, J.C. Trinkle, Computing wrench cones for planar rigid body contact tasks, International Journal of Robotics Research, 21(12) (2002) 1053-1066.
[6] T. Liu, M.Y. Wang, Computation of three-dimensional rigid-body dynamics with multiple unilateral contacts using time-stepping and Gauss-Seidel methods, IEEE Transactions on Automation Science and Engineering, 2(1) (2005) 19-31.
[7] T. Liu, M.Y. Wang, K.H. Low, Non-jamming conditions in multi-contact rigid-body dynamics, Multibody System Dynamics, 22(2) (2009) 269-295.
[8] J. Bender, K. Erleben, J. Trinkle, Interactive simulation of rigid body dynamics in computer graphics, in: Computer Graphics Forum, 2014, pp. 246-270.
[9] D.M. Flickinger, J. Williams, J.C. Trinkle, Performance of a method for formulating geometrically exact complementarity constraints in multibody dynamic simulation, Journal of Computational and Nonlinear Dynamics, 10(1) (2014) 1-12.
[10] Y. Lu, J. Williams, J. Trinkle, C. Lacoursiere, A framework for problem standardization and algorithm comparison in multibody system, in: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Buffalo, New York, USA, 2015.
[11] H. Parvaz, M.J. Nategh, Development of an efficient method of jamming prediction for designing locating systems in computer-aided fixture design, International Journal of Advanced Manufacturing Technology, 86(9-12) (2016) 2459-2471.
[12] H. Parvaz, M.J. Nategh, Development of locating system design module for freeform workpieces in computer-aided fixture design platform, Computer Aided Design, 104(1) (2018) 1-14.
[13] M.J. Nategh, H. Parvaz, Development of computer aided clamping system design for workpieces with freeform surfaces, Computer Aided Design, 95 (2018) 52-61.
[14] K. Zhang, J. Xu, Force control for a rigid dual peg-in-hole assembly, Assembly Automation, 37(2) (2017) 200-207.
[15] K. Zhang, J. Xu, H. Chen, J. Zhao, K. Chen, Jamming analysis and force control for flexible dual peg-in-hole assembly, IEEE Transactions on Industrial Elecetronics, 66(3) (2018) 1930-1939.
[16] Y. Huang, X. Zhang, X. Chen, J. Ota, Vision-guided peg-in-hole assembly by Baxter robot, Advances in Mechanical Engineering, 9(12) (2017) 1-9.
[17] Z. Hou, M. Philipp, K. Zhang, Y. Guan, K. Chen, J. Xu, The learning-based optimization algorithm for robotic dual peg-in-hole assembly, Assembly Automation, 38(4) (2018) 369-375.
[18] J. Giesbers, Contact Mechanics in ADMAS: A Technical evaluation of the contact models in multibody dynamics software MSC ADAMS, Bachelor thesis, University of Twente, Netherlands, 2012.
[19] S. Frimpong, M. Thiruvengadam, Contact and joint forces modeling and simulation of crawler-formation interactions, Journal of Powder Metallurgy & Mining, 4(2) (2015) 135-149. | ||
|
آمار تعداد مشاهده مقاله: 723 تعداد دریافت فایل اصل مقاله: 463 |
||