Authors
Peihao Shi, Kensuke Harada, Weiwei Wan, Ixchel G. Ramirez
Department of Systems Innovation, Osaka University, 1-3 Machikaneyama-cho
Toyonaka, Osaka, Japan.
Juan Rojas
School of Mechanical and Electrical Engineering, GDUT, 100 Waihuanxi Lu,
Gongxue 2, 105 Guangdong University of Technology, Guanzhou, Guandong,
China
Hiromu Onda
AIST, 1-1-1Umezono, Tsukuba, Ibaraki, Japan
Available Online 30 September 2018.
DOI
https://doi.org/10.2991/jrnal.2018.5.2.7
Keywords
Robotic Assembly; Snap joints; Strain Energy
Abstract
In this paper, we aim to provide a better assembly method for a snap joints
assembly task. We create a 3D cellphone model and use ADAMS simulation
environment to analyze the relative motion between screen and backer part.
We focus on two points in this research. 1) Two kinds of relative motion
between the screen and backer parts, i.e., the rotation-based and the translation-based
methods, are compared, and 2) difference between assembly and disassembly
is analyzed. By using the maximum elastic energy in an assembly process,
we show that 1) the rotation-based assembly motion has better robustness
than the translation-based assembly motion in cellphone assembly tasks
when we set the same initial position error. 2) The rotation-based assembly
method is more effective when we disassembly the cellphone screen part.
Copyright
Copyright © 2018, the Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article under the CC BY-NC license (http://creativecommons.org/licences/by-nc/4.0/).