Keywords
How to Cite
Abstract
The main stage of automatic assembly is the process of parts mating. At this stage, there are problems associated with the probability of jamming the parts. To solve this problem, adaptive assembly heads are usually used. However, known dynamic models and control algorithms based on them relate to plane-parallel motion. In this case, considerable frictional forces arise that preventing coupling. The article deals with the assembly method using the rotational motion effect of the installed part. The presence of rotation makes it possible to significantly reduce the part of the friction force, which prevents the movement of the part. In this case, the task becomes spatial. A dynamic model of the coupling process with the use of the industrial robot ASS IRS140, equipped with an adaptive head, which has the ability to rotate about its own axis, is constructed. The rotation is realized by the kinematics of the output link of the robot.
The mathematical model of the coupling process is considered in the form of Lagrange equations of the second kind. Two cases are considered: with the installation without contact with the chamfer and with the slip on the chamfer. The resulting systems of differential equations allow us to investigate the process of a robotic assembly using the effect of rotation of the gripper. On the basis of mathematical models, both direct and inverse tasks of dynamics can be solved. The created mathematical model will be used to determine the conditions of the robotic assembly using the adaptation and the rotation effect of the part.
This is an Open Access article distributed under the terms of the Creative Commons Attribution License CC BY 4.0 (https://creativecommons.org/licenses/by/4.0/)
References
Oscari F., Minto S., Rosati G. (2017) Functional Design of а Robotic Gripper for Adaptive Robotic АssеmЫу. In: Вовспеш G., Gasparetto А. (eds) Advances in Italian Mechanism Science. Mechanisms and Machine Science, vol 47. Springer, Cham. DOI https://doi.org/10.1007/978-3-319-48375-7_28
С. Canali, F. Cannella, F. Chen, Т. Hauptman, G. Sofia, о. G. Caldwell and А. А. Eytan (2014) High RесопfiguгаЫе Robotic Gripper for FlехiЫе АssеmЫу 11 ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Volume 58: 38th Mechanisms and Robotics Conference, 8uffalo, New York, USA, August 17-20, 2014. DOI: 10.1115IDЕТС2014-35245
Кузнецова С.8. Условия потери управляемости при относительной и угловой адаптации поло-жения детали при сборке 11 Материалы V меж-дународного научно-технического семинара «Современные технологии сборки» 19-20 октября 2017 г. - Москва: Московский Политех, 2017 - с. 155-165
Божкова Л.В., Вартанов М.В., Кольчугин Е.И. Метод роботизированной сборки с использова-нием вибрационных колебаний 11 Сборка в ма-шиностроении, приборостроении, NQ9, 2006. С.62-67.
Симаков А.Л. Обоснование методов и средств адаптации соединяемых деталей на базе принци¬пав автоматического управления и выявленных взаимосвязей при автоматизированной сборке. Дисс. на соискание уч. ст. Д.т.н. - Ковров, 1993. - 373 с.
Ghаlуап I.F.J. Iпdustгiаl Аррliсаtiопs. Iп: Foгce-Сопtгоllеd Robotic АssеmЫу Pгocesses of Rigid апd FlехiЫе Objects. Sргiпgег, Cham. 2016. -195 р.
Кристаль М.Г. Производительность и надежность сборочных автоматов: монография. - Волгоград, ВОлГТУ, 2011. - 160 с.
Левчук Д. М. Исследование и разработка методов относительного ориентирования сборочных еди¬ниц соединения во вращающемся потоке газов по автоматической сборке : диссертация кандидата технических наук: 05.02.08 Москва, 1974 -143 с.
Бутенин Н.В., Лунц я.л., Меркин Д.Р. Курс теоре¬тической механики. - СПб.: Издательство «Лань», 2008. - 736 с