Peg-on-hole: fundamental principles of motion of a peg leaning on a horizontal hole edge

• Autorzy: Chernyakhovskaya L. B. , Simakov D. A.

Identyfikatory

DOI

10.12913/22998624/77036

• Języki publikacji: EN

Abstrakty

EN

This paper presents a solution to the problem of a peg leaning on the edge of a horizontal hole at three points. The object of the interest is the motion in the course of automated peg-in-hole assembly. The complex motion of a peg is described in two degrees of freedom. These degrees of freedom are planar motion and rotational motion. Planar motion provides parts alignment via a change of nutation angle. Rotational motion occurs around a hole axis. It is described by a precession angle. The kinematic analysis of these was performed. Based on this analysis the directions of the peg velocities at the contact points were established. The directions of forces acting on the peg at these points were also determined. The system of Dynamic Differential Equations of the generalized coordinates was derived. This system determines the equations of the peg motion and dynamic reactions. During rotational motion, the forces acting on the peg at contact points are shown to be significantly reduced. This reduction improves the conditions of parts alignment and increases the assembly quality.

Słowa kluczowe

EN

cylindrical parts; three contact points; complex motion; two degrees of freedom; dynamic reactions; differential equations

• Wydawca: Lublin University of Technology ; Polish Society of Ecological Engineering (PTIE), Branch of PTIE in Lublin
• Czasopismo: Advances in Science and Technology. Research Journal
• Rocznik: 2017
• Tom: Vol. 11, no 4
• Strony: 49--59
• Opis fizyczny: Bibliogr. 13 poz., fig.

Twórcy

autor

Chernyakhovskaya L. B.

• Department of Mechanics, Samara State Technical University, ul. Molodogvardeiskaya 244, 443100, Samara, Russia

autor

Simakov D. A.

• Independent Researcher, Wackenroderstrasse 1, 07745 Jena, Deutschland

Bibliografia

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Uwagi

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017)