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Peg-In-Hole Insertion Equipment |
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Equipment: Funding Source: Designer: |
(i) (ii) (iii) (i)
(i)
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tthree Yokogawa direct-drive motors ATI force/torque sensor laser printer NSERC Equipment Grant
K.C. Loong (B.A.Sc.) (mechanical design)
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The following figure illustrates this piece of equipment. The purpose of this equipment is to test control algorithms designed for the precision insertion of one part into another, such as occurs in many assembly operations. This device is designed to experiment with a simulated planar peg-in-hole insertion. Contact forces during insertion are used to cause motion of the peg to minimize interference forces that naturally arise during insertion. Work is currently nearing completion on this facility. Currently, passive devices are used to achieve precision insertions. With the advent of a new class of these passive systems, not yet available commercially, the possibility of active control of insertion processes becomes a reality.
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