Abstract
Impact manipulation can generate a large force in a moment. Therefore it is effective for press-fitting operations. In this research, we model a press-fitting and analyze it for realization by robot manipulator. We analyze the relation between hitting velocity and press-fitting depth. A necessary hitting velocity for a desired press-fitting depth can be obtaind by the relation. We adopt an under-actuated manipulator for hitting at the sweetspot. Simple Genetic Algorithm is introduced to plan a manipulator motion to generate a desired hitting velocity. We experiment press-fitting operations to drive an under-actuated manipulator to the plan.
