Jamming problems and the effects of compliance in dual peg-hole disassembly

Farzaneh Goli; Yongquan Zhang; Mo Qu; Yue Zang; Mozafar Saadat; Duc truong Pham; Yongjing Wang

doi:10.1098/rspa.2023.0364

Jamming problems and the effects of compliance in dual peg-hole disassembly

Farzaneh Goli^*, Yongquan Zhang, Mo Qu, Yue Zang, Mozafar Saadat, Duc truong Pham, Yongjing Wang

^*Corresponding author for this work

Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

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Abstract

Disassembly is a crucial step in remanufacturingand is currently mainly performed by humans.Automating disassembly can reduce labour costs andmake remanufacturing more economically attractive.This paper focuses on identifying and characterizing acommon disassembly task, dual peg-hole disassembly,with the aim of building a robotic disassembly systemfor this task. We enumerate the possible contact statesand their geometric conditions during the extractionof two studs in a dual peg-hole. This paper focuses onjamming in the extraction and conducts geometricaland quasi-static analyses to determine the boundaryconditions of jamming. Based on the analyses, thispaper also investigates the role of active compliance asa solution to avoid jamming. We also simulate criticalvariables and examine key parameters such as thedegree of compliance, the location of the compliancecentre and initial position errors. Finally, we conductexperimental studies on dual peg-hole extraction withdifferent compliance centres obtained using active compliance.

Original language	English
Article number	20230364
Number of pages	26
Journal	Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences
Volume	480
Issue number	2286
DOIs	https://doi.org/10.1098/rspa.2023.0364
Publication status	Published - 20 Mar 2024

Bibliographical note

Funding
This work was supported by the Engineering and Physical Sciences Research Council (EPSRC) under grant no. EP/W00206X/1.

Keywords

dual peg-hole extraction
disassembly
active compliance centre
robotic
force analysis
jamming

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10.1098/rspa.2023.0364Licence: Creative Commons: Attribution (CC BY)

Goli2024_Jamming_problemsFinal published version, 3.2 MBLicence: Creative Commons: Attribution (CC BY)

https://royalsocietypublishing.org/doi/10.1098/rspa.2023.0364

Self-learning robotics for industrial contact-rich tasks (ATARI): enabling smart learning in automated disassembly
Wang, Y. W. (Principal Investigator)
Engineering & Physical Science Research Council
1/05/22 → 31/10/24
Project: Research Councils

Cite this

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title = "Jamming problems and the effects of compliance in dual peg-hole disassembly",

abstract = "Disassembly is a crucial step in remanufacturingand is currently mainly performed by humans.Automating disassembly can reduce labour costs andmake remanufacturing more economically attractive.This paper focuses on identifying and characterizing acommon disassembly task, dual peg-hole disassembly,with the aim of building a robotic disassembly systemfor this task. We enumerate the possible contact statesand their geometric conditions during the extractionof two studs in a dual peg-hole. This paper focuses onjamming in the extraction and conducts geometricaland quasi-static analyses to determine the boundaryconditions of jamming. Based on the analyses, thispaper also investigates the role of active compliance asa solution to avoid jamming. We also simulate criticalvariables and examine key parameters such as thedegree of compliance, the location of the compliancecentre and initial position errors. Finally, we conductexperimental studies on dual peg-hole extraction withdifferent compliance centres obtained using active compliance.",

keywords = "dual peg-hole extraction, disassembly, active compliance centre, robotic, force analysis, jamming",

author = "Farzaneh Goli and Yongquan Zhang and Mo Qu and Yue Zang and Mozafar Saadat and Pham, {Duc truong} and Yongjing Wang",

note = "Funding This work was supported by the Engineering and Physical Sciences Research Council (EPSRC) under grant no. EP/W00206X/1.",

year = "2024",

month = mar,

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doi = "10.1098/rspa.2023.0364",

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AU - Goli, Farzaneh

AU - Zhang, Yongquan

AU - Qu, Mo

AU - Zang, Yue

AU - Saadat, Mozafar

AU - Pham, Duc truong

AU - Wang, Yongjing

N1 - Funding This work was supported by the Engineering and Physical Sciences Research Council (EPSRC) under grant no. EP/W00206X/1.

PY - 2024/3/20

Y1 - 2024/3/20

N2 - Disassembly is a crucial step in remanufacturingand is currently mainly performed by humans.Automating disassembly can reduce labour costs andmake remanufacturing more economically attractive.This paper focuses on identifying and characterizing acommon disassembly task, dual peg-hole disassembly,with the aim of building a robotic disassembly systemfor this task. We enumerate the possible contact statesand their geometric conditions during the extractionof two studs in a dual peg-hole. This paper focuses onjamming in the extraction and conducts geometricaland quasi-static analyses to determine the boundaryconditions of jamming. Based on the analyses, thispaper also investigates the role of active compliance asa solution to avoid jamming. We also simulate criticalvariables and examine key parameters such as thedegree of compliance, the location of the compliancecentre and initial position errors. Finally, we conductexperimental studies on dual peg-hole extraction withdifferent compliance centres obtained using active compliance.

AB - Disassembly is a crucial step in remanufacturingand is currently mainly performed by humans.Automating disassembly can reduce labour costs andmake remanufacturing more economically attractive.This paper focuses on identifying and characterizing acommon disassembly task, dual peg-hole disassembly,with the aim of building a robotic disassembly systemfor this task. We enumerate the possible contact statesand their geometric conditions during the extractionof two studs in a dual peg-hole. This paper focuses onjamming in the extraction and conducts geometricaland quasi-static analyses to determine the boundaryconditions of jamming. Based on the analyses, thispaper also investigates the role of active compliance asa solution to avoid jamming. We also simulate criticalvariables and examine key parameters such as thedegree of compliance, the location of the compliancecentre and initial position errors. Finally, we conductexperimental studies on dual peg-hole extraction withdifferent compliance centres obtained using active compliance.

KW - dual peg-hole extraction

KW - disassembly

KW - active compliance centre

KW - robotic

KW - force analysis

KW - jamming

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DO - 10.1098/rspa.2023.0364

M3 - Article

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VL - 480

JO - Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences

JF - Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences

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M1 - 20230364

ER -

Jamming problems and the effects of compliance in dual peg-hole disassembly

Abstract

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Self-learning robotics for industrial contact-rich tasks (ATARI): enabling smart learning in automated disassembly

Cite this