This paper proposes an efficient strategy to simultaneously insert multiple objects, which are parallel connected by passive compliant mechanisms, in precision assembly. The distinctions of this task include: each object is held compliantly; multiple objects are parallel connected to a manipulator; not all the peg-in-hole has the same insertion condition; and high accuracy is required for each insertion. This configuration can provide sufficient compliance and improve insertion efficiency for massive precision assembly. We model the relationship between the state and force of a single compliant mechanism, and analyze the horizontal compliance of parallel mechanisms. Based on the model, with a fitting and optimization method the states of all but one compliant mechanisms are acquired from microscopic views and the remaining states are optimized with resultant forces provided by a force sensor. To efficiently plan the parallel insertion, we propose a strategy to horizontally compensate according to the resultant force and the horizontal compliance, and to vertically insert based on the insertion ratio expectation, the horizontal offsets of each individual insertion, and the horizontal force. Experiments are carried out to demonstrate the validation of the proposed method.

中文翻译：

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在精密装配中通过被动柔顺机制高效插入并联的多个物体


本文提出了一种在精密装配中同时插入多个物体的有效策略，这些物体通过被动柔顺机构并联连接。该任务的特点包括：每个物体都被顺从地握住；多个物体并联到一个机械臂上；并非所有的钉孔都具有相同的插入条件；每次插入都要求高精度。这种配置可以为大规模精密装配提供足够的顺应性并提高插入效率。我们对单个柔顺机构的状态与力之间的关系进行建模，并分析并联机构的水平柔顺性。基于该模型，通过拟合和优化方法，从微观角度获取除一个柔顺机构之外的所有柔顺机构的状态，并利用力传感器提供的合力对其余状态进行优化。为了有效地规划并行插入，我们提出了一种根据合力和水平柔量进行水平补偿的策略，并根据插入比率期望、每个单独插入的水平偏移和水平力进行垂直插入。进行实验以证明所提出方法的有效性。