Influence of rotational movement of a peg on the automatic peg-in-hole assembly of cylindrical details
We have considered the process of the vertical assembly scheme of cylindrical details with the guaranteed gap. As a distinctive feature, a shaft, leaning on three points of the bush hole edge, makes a rotating motion around its axis. The motion of the shaft consists in this case of a plane-parallel motion that leads the assembly of the details, and of a rotating one that doesn’t affect the feed motion of the shaft into the bush. The set of differential equations in generalized coordinates, relating the interaction force between details at the points of contact and the values of the assembling torques to kinematic features of the plane-parallel and the rotating motions, was formed. The results of graphical solution of equations with Mathcad for different regimes of assembly of certain details were presented. They showed that interaction forces in symmetrical points of contact are decreasing when the shaft rotates. The bigger the angular speed is the lower are these interaction forces. It improves the conditions of the details overlapping and increases the quality of assembly.