Flexible and Precision Snap-Fit Peg-in-Hole Assembly Based on Multiple Sensations and Damping Identification
Ruikai Liu,Xiansheng Yang,Ajian Li,Yunjiang Lou,Ruikai Liu,Xiansheng Yang,Ajian Li,Yunjiang Lou
Snap-fit peg-in-hole assembly widely exists in both industry and daily life, especially for consumer electronics. The buckle mechanism leads to a damping zone inside the port where insertion force needs to be increased. It is much difficult to automate this process by robots, for size and clearance of the components are always small, and the damping buckle should be perceived and distinguished fro...
