Admittance Selection for Force Guided Assembly with Optimal Motio
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Admittance Selection for Force Guided Assembly with Optimal Motio
Marquette Universitye-Publications(d)MarquetteMaster's 'theses (2009 -)Dissertations, 'theses, and Professional ProjectsAdmittance Selection for Force Admittance Selection for Force Guided Assembly with Optimal Motioe Guided Assembly with Optimal MotionFernando Rodríguez AntonMarquette UniwriityRecommended CitationAnton, Fernando Rodnguez, 'Admittance Selection tbr Force Guided Assembly u-ith Optimal Motion' (20 J 3). Afiisrcr’s Tfowcs (2009 ■ ). Paper 240.http:/,'epublKations.marquette.edu, 'thesesopen,’240ADM Admittance Selection for Force Guided Assembly with Optimal MotioITTANCE SELECTION FOR FORCE GLIDED ASSEMBLY WITH OPTIMAL MOTIONbyFernando Rodríguez Anton. B.sA Thesis submitted to the Faculty of the Graduate SchoolAdmittance Selection for Force Guided Assembly with Optimal Motio
. Martinette University,in Part ial Fulfillment of the Requirements for the Degree of Master of Science.Milwaukee. Wisconsin41609Dedicated to my familMarquette Universitye-Publications(d)MarquetteMaster's 'theses (2009 -)Dissertations, 'theses, and Professional ProjectsAdmittance Selection for Force Admittance Selection for Force Guided Assembly with Optimal Motioo Rodríguez AntonMarquette University, 2013Current robots lack the precise relative positioning necessary to complete automatic assembly tasks. Several solutions have been proposed. Some approaches use complex vision and force sensing systems to generate corrective motion if misalignment is present Admittance Selection for Force Guided Assembly with Optimal Motioin t he assembly task. Ot her solutions rely on generating elastic behavior, known as compliance, between the end effector and the held movable part.Admittance Selection for Force Guided Assembly with Optimal Motio
This compliant mechanism helps guide the movable part of the assembly into its proper position.The project focuses on designing a process by which pasMarquette Universitye-Publications(d)MarquetteMaster's 'theses (2009 -)Dissertations, 'theses, and Professional ProjectsAdmittance Selection for Force Admittance Selection for Force Guided Assembly with Optimal Motioity. This is accomplished by using a velocity metric as the goal of a constrained optimization. The metric uses the average discrepancy of all the particle motion from an established "best motion", This motion minimizes the discrepancy in the velocity of all particles motion from their ideal motion Admittance Selection for Force Guided Assembly with Optimal Motiotowards their proper position. This procedure identities the bebt worst case scenario for a representative set of configurations.The results obtainedAdmittance Selection for Force Guided Assembly with Optimal Motio
for optimization over polygonal geometries of 3. 4, and 5 vertices, demonstrate the effectiveness of rhe procedure in designing passive compliant behaMarquette Universitye-Publications(d)MarquetteMaster's 'theses (2009 -)Dissertations, 'theses, and Professional ProjectsAdmittance Selection for Force Admittance Selection for Force Guided Assembly with Optimal Motions but also for all intermediate ones.iACKNOW l.EDG K.\I EM SFernando Rodríguez AntonIwould like to acknowledge several people for their significant contributions to this project. First of all, my advisor. Dr. Joseph Schimmels, for all his guidance (hiring my time at Marquette University and his wil Admittance Selection for Force Guided Assembly with Optimal Motiolingness to teach me that which I did not understand. Dr. Mark Nagurka for his support and the opportunities he has provided me with to become a betteAdmittance Selection for Force Guided Assembly with Optimal Motio
r engineer. I would also like to thank Dr. Shuguang Huang for teaching me about rigid body dynamics which were essential for the development of t his Marquette Universitye-Publications(d)MarquetteMaster's 'theses (2009 -)Dissertations, 'theses, and Professional ProjectsAdmittance Selection for Force Admittance Selection for Force Guided Assembly with Optimal Motio...................... 11.1Project Motivation............................................... 1Marquette Universitye-Publications(d)MarquetteMaster's 'theses (2009 -)Dissertations, 'theses, and Professional ProjectsAdmittance Selection for ForceGọi ngay
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