Analysis of insertion process for robotic assembly

Insertion process of cylindrical parts with clearance for robotic assembly using vibratory excitation is analyzed in the paper. Mathematical model of vibratory parts insertion process, which determines peg contact with the chamfer of the bush, peg one point and two point contact with the bush hole, was formed. Simulation of cylindrical parts insertion process was performed. The influence of vibrations on the insertion process, when mobile based peg is kinematically excited in axial direction, was determined. The combinations of excitation and system parameters, under which insertion process duration is the shortest and the process is the most reliable, were detected.