Strategies for automatic assembly of deformable objects

Strategies for automatic assembly of deformable objects are presented. A flexible beam mating with a rigid hole is taken as the target of investigation. The deflection behavior of a deformable beam is studied. The geometric and force conditions for successful assembly of rigid parts are reviewed. Based on these conditions, strategies for assembling deformable beams are proposed. The strategies are defined by the motion trajectory of the tool which handles the beam. It is found that when the clearance between the beam and the hole is loose, the desired trajectory should be the same as the curve formed by the deformed beam. When the clearance is tight, the position and orientation of the tool should be adjusted, following the involute of the deformed beam curve