Paper Title:
A Force-Feedback Assembly Method for Micro Parts Based on SRNN
  Abstract

Force-feedback information is usful for micro-assembly system to enhence its contact sensing capability. On the basis of this view, a 3D force-feedback assembly method is proposed in this paper. It uses coordinate conversion to combine ideal pose data with pose error vector for assembly control. A kind of simple recurrent neural network (SRNN), whose weights is modified by using Levenberg-Marquardt (LM) algorithm, is applied to establish the mapping relationship between pose error vector and 6-DOF contact force/toque feedback form sensor. Experiments are carried out on backlash slider and base parts assembly to verify the performance of this method. It is proved that SRNN based on LM algorithm has good convergence ability and good fitting effects. Also,pose error can be accurately estimated and assembly searching times can be greatly reduced.

  Info
Periodical
Chapter
Chapter 4: Equipment Manufacturing
Edited by
Jiuba Wen, Fuxiao Chen, Ye Han and Huixuan Zhang
Pages
489-494
DOI
10.4028/www.scientific.net/AMM.120.489
Citation
L. H. Zhao, J. C. Zhang, "A Force-Feedback Assembly Method for Micro Parts Based on SRNN", Applied Mechanics and Materials, Vol. 120, pp. 489-494, 2012
Online since
October 2011
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Shui Li Yang, Wei Ping Huang
Abstract:Through the comparative analysis, the features of the mass customization assembly line are obtained. The corresponding genetic algorithm is...
1076
Authors: Qing Xi Hu, Yan Zhi Xu, Q. Lu
Abstract:In the automatic assembly of product, the key steps are to automatically get constraint objects and plan the assembly path. For the assembly...
74
Authors: Xiao Dong Wang, Lin Wang, Xi Wen Zhang, Yi Luo, Li Ping Liu
Abstract:Since miniature parts have the characteristics of small sizes, low strength and rigidity, and they are easily to be damaged during the...
668
Authors: Xi Wen Zhang, Xiao Dong Wang, Yi Luo, Lin Teng, Liang Chen, Tian Ming Ma
Industrial Robotics and Automation
Abstract:Assembly is one of the most important procedure in manufacturing complex miniature products. Batch assembly is limited by the manual...
757
Authors: Sha Sha Dou
Chapter 1: Bionic Mechanisms, Virtual Manufacturing and Lean Production
Abstract:The purposed research joins back-propagation neural network (BPNN) algorithm, using NX/KF second development module to create feasible...
30