Abstract
Nowadays, a number of methods of robotic assembly of cylindrical joints are popular. However, before assembling, pegs and sleeves need to be adjusted. In practice, if there is a significant misalignment of the position of the shaft and sleeve, seizure or deformation may occur during the assembly process. This article proposes a method for determining the shaft position and sleeve using a force-torque sensor. Creating a three-point contact position is estimated using the force-torque sensor. The models are constructed in a quasi-static formulation. Experimental setup based on an ABB IRB-140 industrial robot with an IRC5 controller, coupling parts with a gap 0.04 mm to confirm the effectiveness of the proposed method. During the experiment, the experimental values of the friction coefficient obtained by the authors earlier were used. As a result of the experiment, regularities of changes in the values of forces, moments and angles of shaft skew are obtained, characterizing the coupling stage. The consistency of the analytical solution and the results of the physical experiment are discussed.
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Acknowledgments
The authors are grateful to the department “Technologies and Equipment of Mechanical Engineering”, Faculty of Mechanical Engineering, Moscow Polytechnic University for providing equipment and infrastructure, but also for significant support and useful suggestions for conducting research.
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V. Vartanov, M., Nguyen, V.D., Nguyen, V.L. (2023). Mathematical Model of the Coupling Process of the “Shaft-Sleeve” Connection Using an Active Adaptation Tool for Three-Point Contact. In: Radionov, A.A., Gasiyarov, V.R. (eds) Proceedings of the 8th International Conference on Industrial Engineering. ICIE 2022. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-031-14125-6_66
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DOI: https://doi.org/10.1007/978-3-031-14125-6_66
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