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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精密装配中通过被动顺应机构并联连接的多个对象的有效插入

本文提出了一种有效的策略，可以在精密装配中同时插入通过被动顺应机制并联连接的多个对象。该任务的区别包括：每个对象都被顺应地保存；多个对象并联连接到一个操纵器；并非所有的钉孔都具有相同的插入条件；并且每次插入都需要高精度。此配置可以提供足够的顺从性并提高大规模精密装配的插入效率。我们对单个顺应机制的状态和力之间的关系进行建模，并分析并行机制的水平顺应性。根据该模型，通过一种装配和优化方法，可以从微观视图中获取除一个柔顺机构外的所有状态，并利用力传感器提供的合力来优化其余状态。为了有效地计划平行插入，我们提出了一种策略，可以根据合力和水平顺应性进行水平补偿，并根据期望的插入比率，每个单独插入的水平偏移量和水平力来垂直插入。实验表明该方法的有效性。并根据插入率期望值，每个单独插入的水平偏移量和水平力垂直插入。实验表明该方法的有效性。并根据插入率期望值，每个单独插入的水平偏移量和水平力垂直插入。实验表明该方法的有效性。