Peg-in-hole作業に対するマニピュレータの運動学的作業性能評価 : 面取り面上でのつまり現象回避条件を考慮した評価法

抄録

The purpose of this paper is to present a graphical method for evaluating task performance of a manipulator for a planar peg-in-hole assembly task. The manipulator has three revolute joints, including a compliant element, and performs the task in a plane. Further, an RCC (Remote Center Compliance) is mounted on the end-point of the manipulator. First, a force condition to avoid jamming on the chamfer is derived. A stiffness condition at the compliance center of the RCC is then obtained from the force condition. Under the stiffness condition, the manipulator can avoid the jamming on the chamfer. Second, a graphical method is proposed on the basis of the stiffness condition and a DMA (Dexterity Measure for Assembly) that was previously derived by the authors. Third, the method allows us to evaluate the task-performance of a manipulator (e.g. PUMA 560). Finally, the evaluation results show that the stiffness condition for avoidance of jamming on the chamfer is important in evaluating task-performance of a manipulator for a peg in-hole task.