Fuzzy rule-based assembly algorithm for precision parts mating

퍼지규칙을 이용한 정밀부품 결합을 위한 조립알고리즘

This paper describes a fuzzy rule-based assembly algorithm for precision parts mating, The difficulties in devising reliable assembly strategies result from the complexity of the assembly process and the uncertainty such as imperfect knowledge of the parts being assembled as well as the limitations of the devices performing the assembly. To cope with above problems, we propose an assembly algorithm utilizing fuzzy set theory. The presented method allows us to represent the uncertainty by using fuzzy membership function and treat nonlinear sapping from measured force/torque to corrective motions using rules. Finally, the performance of this method is evaluated through a series of experiments. Experimental results show that the proposed method can be effectively used for chamferless and precision parts mating.