ADAPTABLE SYSTEM OF EQUIPMENT AND JIGGING FOR AUTOMATIC ASSEMBLY

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Abstract

Currently, industrial robots are widely used to perform position checking tasks through minimum contact, that is spot welding, spray painting, packaging and loading and unloading operations. However, performing assembly tasks with high tolerances is still a big problem for robots due to various uncertainties about assembled parts, i.e. clamp holdings, slave tools. To correct these errors, it is necessary to have positive mobility, which is called adaptation of part position. Mobility adaptation can be achieved through active or passive means, as well as a combination of them. Passive adaptation methods are based on the use of elastic and damping elements. The structures are designed in such a way that the forces arising at the points of contact of the parts correct the errors of their position. Active adaptation methods are based on adaptive feedback control, when the assembly process and the position of the parts are adjusted automatically by measuring the position and due to contact forces. From this perspective, the expanding of research and development has led to the high robotic technologies for industrial applications. Modern technologies of robotic assembly are analyzed for better understanding of technological trends in the development of industrial robots, constraint recognition of production methods and specifying the lines of future research in this area. In this article, the typical "shaft- spacer" operations are of particular interest. Assembly control strategies are classified based on the assembly pattern. Robotic assembly management strategies and existing technologies boundary conditions are discussed in detail specifying the lines of future research in adaptable control of robotic assembly.

About the authors

Mikhail Vladimirovich Vartanov

Moscow Polytechnic University

Email: natalia.vartanova@ba.ru
ORCID iD: 0000-0002-6057-9478

Nguyen Van Lin

Moscow Polytechnic University

ORCID iD: 0000-0003-4754-1632

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