Precision Assembly of Heavy Objects Suspended With Multiple Cables From a Crane
Name
IROS2020_PegInHoleCables_RAL_8_31_2020_1.pdf
Size
1.67 MB
Format
Adobe PDF
Checksum (MD5)
c88a80c3d4cebc36baac0b7f3f38a09e
Author(s)
Hoffman, Rachel M.
Asada, Haruhiko
Date Issued
August 2020
Journal
IEEE Robotics and Automation Letters
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Hoffman, Rachel and H. Harry Asada. "Precision Assembly of Heavy Objects Suspended With Multiple Cables From a Crane." IEEE Robotics and Automation Letters 5, 4 (October 2020): 6876 - 6883 © 2020 IEEE
Version
Author's final manuscript
Abstract
A new approach to precision mating of heavy objects suspended from overhead cranes is presented. We have found through experiments that heavy shafts suspended with multiple cables at specific positions and orientations can be inserted into a chamfered hole despite a small clearance. This will allow an overhead crane, although limited in positioning accuracy, to execute precision assembly of a heavy shaft simply by holding it with multiple cables and lowering it onto the chamfered hole of a fixed object. Unlike the well-known Remote Center Compliance (RCC) hand, this method does not use a two-layer elastic structure but exploits the physical properties of cables. Specifically, cables go slack when a compressive load is applied. This unidirectional load bearing property is exploited to suspend a heavy shaft such that it is not over-constrained during insertion. Conditions for the cable attachment position and orientation for successful insertion are obtained. A proof-of-concept prototype is developed and experimental verification of the principle and analysis are presented.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/lra.2020.3013845
