Title :
Dynamic modeling of a part mating problem: threaded fastener insertion
Author :
Nicolson, Edward J. ; Fearing, Ronald S.
Author_Institution :
California Univ., Berkeley, CA, USA
Abstract :
A dynamic simulation of threaded insertion is developed based on Euler´s equations, impulsive forces, and a geometric description for threaded parts. Points of contact between the threaded parts are determined and tracked during the simulation. Reaction forces are computed based by the kinematic description. The simulation is used to investigate the behavior of a bolt during insertion into a nut under grasp stiffness and damper control
Keywords :
assembling; Euler´s equations; bolt; damper control; dynamic simulation; geometric description; grasp stiffness; impulsive forces; kinematic description; nut; part mating problem; reaction forces; screwing; threaded fastener insertion; Computational modeling; Equations; Fasteners; Kinematics; Robotic assembly; Robots; Solid modeling; Springs; Torque; Yarn;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174422
