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Contact type determination for cylindrical pair adjustment

Conference Paper


Abstract


  • Adjustment for a cylindrical pair is a fundamental manipulation, which can be utilised in dynamic assembly and reconfigurable workholding systems. In this paper, a comprehensive dynamic analysis associated with the adjustment of a cylindrical pair for a single DOF motion case is developed and its relevance to the adjustment operation is investigated. It is assumed that the inner link of the lower pair is attached to a Cartesian manipulator, which is considered to be the active device and the outer link is attached to an articulated robot. Also, a methodology to uniquely identify the type of contact between the two links is developed. The type of contact determines the appropriate translation/orientation adjustment. Analysis results indicate that, depending on the size of the outer link and the friction coefficient, the contact type is either single point (translational) or double point (orientation).

Publication Date


  • 2003

Citation


  • Tilakaratna, P. D. W., Shirinzadeh, B., & Alici, G. (2003). Contact type determination for cylindrical pair adjustment. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM Vol. 1 (pp. 326-331). doi:10.1109/AIM.2003.1225116

Scopus Eid


  • 2-s2.0-33751024010

Start Page


  • 326

End Page


  • 331

Volume


  • 1

Abstract


  • Adjustment for a cylindrical pair is a fundamental manipulation, which can be utilised in dynamic assembly and reconfigurable workholding systems. In this paper, a comprehensive dynamic analysis associated with the adjustment of a cylindrical pair for a single DOF motion case is developed and its relevance to the adjustment operation is investigated. It is assumed that the inner link of the lower pair is attached to a Cartesian manipulator, which is considered to be the active device and the outer link is attached to an articulated robot. Also, a methodology to uniquely identify the type of contact between the two links is developed. The type of contact determines the appropriate translation/orientation adjustment. Analysis results indicate that, depending on the size of the outer link and the friction coefficient, the contact type is either single point (translational) or double point (orientation).

Publication Date


  • 2003

Citation


  • Tilakaratna, P. D. W., Shirinzadeh, B., & Alici, G. (2003). Contact type determination for cylindrical pair adjustment. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM Vol. 1 (pp. 326-331). doi:10.1109/AIM.2003.1225116

Scopus Eid


  • 2-s2.0-33751024010

Start Page


  • 326

End Page


  • 331

Volume


  • 1