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.

中文翻译：

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用起重机上的多根电缆悬挂重物的精密组装

提出了一种对悬挂在高架起重机上的重物进行精确匹配的新方法。我们通过实验发现，在特定位置和方向悬挂有多根电缆的重轴可以插入倒角孔中，尽管间隙很小。这将允许桥式起重机虽然定位精度有限，但只需用多根电缆固定重轴并将其降低到固定物体的倒角孔上，即可对重轴进行精密组装。与著名的远程中心合规 (RCC) 手不同，这种方法不使用两层弹性结构，而是利用了电缆的物理特性。具体而言，当施加压缩载荷时，电缆会变得松弛。这种单向承重特性用于悬挂重轴，使其在插入过程中不会受到过度约束。获得成功插入的电缆连接位置和方向的条件。开发了概念验证原型，并给出了原理和分析的实验验证。