{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,10]],"date-time":"2026-06-10T00:35:42Z","timestamp":1781051742270,"version":"3.54.1"},"reference-count":23,"publisher":"Cambridge University Press (CUP)","issue":"9","license":[{"start":{"date-parts":[[2022,4,1]],"date-time":"2022-04-01T00:00:00Z","timestamp":1648771200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2022,9]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>In this paper, the assembly problem of circular-rectangular compound peg and hole parts in automatic assembly is proposed for the first time, and an automatic assembly method based on six-dimensional force sensor is summarized. Firstly, according to the quasi-static equilibrium condition, the contact states are summarized. It is concluded that there are 7 categories of 44 contact states in insertion stage and the forces conditions to maintain each contact state; Secondly, according to the analysis of the force\/moment relationship, the jamming diagram is drawn, and the conditions of jamming are analyzed. Thirdly, the assembly strategy is discussed, including contact state recognition strategy, hole searching strategy, and pose adjustment strategy. Finally, combined with impedance control, the assembly theory is verified in ADAMS, and the assembly with minimum clearance of 0.1 mm is achieved.<\/jats:p>","DOI":"10.1017\/s0263574722000200","type":"journal-article","created":{"date-parts":[[2022,4,1]],"date-time":"2022-04-01T08:20:30Z","timestamp":1648801230000},"page":"3306-3339","source":"Crossref","is-referenced-by-count":15,"title":["Robot assembly theory and simulation of circular-rectangular compound peg-in-hole"],"prefix":"10.1017","volume":"40","author":[{"given":"Weiguo","family":"Wu","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0145-2124","authenticated-orcid":false,"given":"Kexin","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tong","family":"Wang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2022,4,1]]},"reference":[{"key":"S0263574722000200_ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ETFA.2015.7301500"},{"key":"S0263574722000200_ref7","unstructured":"[7] Ohwovoriole, M. S. . An Extension of Screw Theory and its Application to the Automation of Industrial Assemblies, Diss. (Stanford University, 1980)."},{"key":"S0263574722000200_ref19","unstructured":"[19] Tsumugiwa, T. , Sakamoto, A. , Yokogawa, R. and Hara, K. , \u201cSwitching Control of Position\/Torque Control for Human-Robot Cooperative Task-Human-Robot Cooperative Carrying and Peg-In-Hole Task, In: 2003 IEEE International Conference on Robotics and Automation (Cat. No. 03ch37422) (vol. 2, IEEE, 2003)."},{"key":"S0263574722000200_ref6","doi-asserted-by":"publisher","DOI":"10.1007\/s12541-018-0156-2"},{"key":"S0263574722000200_ref11","doi-asserted-by":"publisher","DOI":"10.1051\/meca\/2020012"},{"key":"S0263574722000200_ref12","doi-asserted-by":"crossref","unstructured":"[12] Newman, W. S. , Zhao, Y. and Pao, Y.-H. , \u201cInterpretation of Force and Moment Signals for Compliant Peg-in-Hole Assembly, In: Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No. 01CH37164) (IEEE, vol. 1, 2001).","DOI":"10.1109\/ROBOT.2001.932611"},{"key":"S0263574722000200_ref18","doi-asserted-by":"publisher","DOI":"10.1109\/URAI.2014.7057477"},{"key":"S0263574722000200_ref20","doi-asserted-by":"publisher","DOI":"10.1109\/SMC.2016.7844650"},{"key":"S0263574722000200_ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO.2016.7866637"},{"key":"S0263574722000200_ref16","doi-asserted-by":"publisher","DOI":"10.1007\/s12541-014-0353-6"},{"key":"S0263574722000200_ref2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3149634"},{"key":"S0263574722000200_ref21","doi-asserted-by":"publisher","DOI":"10.1016\/S1474-6670(17)56108-X"},{"key":"S0263574722000200_ref3","doi-asserted-by":"publisher","DOI":"10.1108\/01445151111172943"},{"key":"S0263574722000200_ref5","unstructured":"[5] Park, D. I. , Park, C. , Do, H. , Choi, T. and Kyung, J.-H. , \u201cAssembly Phase Estimation in the Square Peg Assembly Process,\u201d In: 2012 12th International Conference on Control, Automation and Systems (IEEE, 2012)."},{"key":"S0263574722000200_ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2018.2838069"},{"key":"S0263574722000200_ref1","unstructured":"[1] Simunovi, S. N. S. , An Information Approach to Parts Mating (1979), pp. 29\u201335."},{"key":"S0263574722000200_ref4","unstructured":"[4] Caine, M. E. , Lozano-Perez, T. and Seering, W. P. , \u201cAssembly Strategies for Chamferless Parts,\u201d In: Proceedings, 1989 International Conference on Robotics and Automation (IEEE, 2002)."},{"key":"S0263574722000200_ref9","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2003.11.003"},{"key":"S0263574722000200_ref14","doi-asserted-by":"publisher","DOI":"10.1108\/IR-09-2016-0240"},{"key":"S0263574722000200_ref8","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574798000393"},{"key":"S0263574722000200_ref15","doi-asserted-by":"publisher","DOI":"10.1177\/1687814017748078"},{"key":"S0263574722000200_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/CARE.2013.6733716"},{"key":"S0263574722000200_ref17","unstructured":"[17] Yun, S.-K. , \u201cCompliant Manipulation for Peg-In-Hole: Is Passive Compliance a Key to Learn Contact Motion?,\u201d In: 2008 IEEE International Conference on Robotics and Automation (IEEE, 2008)."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574722000200","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,21]],"date-time":"2024-09-21T11:54:00Z","timestamp":1726919640000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574722000200\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,4,1]]},"references-count":23,"journal-issue":{"issue":"9","published-print":{"date-parts":[[2022,9]]}},"alternative-id":["S0263574722000200"],"URL":"https:\/\/doi.org\/10.1017\/s0263574722000200","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,4,1]]}}}