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International Conference on Modelling and Simulation for Autonomous Systems

MESAS 2021: Modelling and Simulation for Autonomous Systems pp 145–157Cite as

Robotic Snap-fit Assembly with Success Identification Based on Force Feedback

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Part of the Lecture Notes in Computer Science book series (LNCS,volume 13207)

Abstract

Snap-fit assembly is a standard method in manufacturing to join mainly plastic parts together without any additional processing. However, most of these assemblies are carried out by human workers as they are able to recognize whether the operation is executed correctly. This work aims to improve a robotic snap-fit assembly and replace humans in the process. It is achieved by force measuring using the sensor at the end of the robotic arm. For the purpose of the work, the custom made snap joint was designed in various variants. A set of features was established to enable the classification of obtained signals. The features were tested on a created dataset consisting of measured signals of the four primary cases that may occur during the assembly. This solution provides a possible expansion to create a framework with a selected classification algorithm for the autonomous classification of measured signals.

Keywords

  • Snap-fit assembly
  • Industrial robot
  • Force feedback
  • Classification

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  • DOI: 10.1007/978-3-030-98260-7_9
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Acknowledgement

This research was funded by the Faculty of Mechanical Engineering, Brno University of Technology under the projects FSI-S-20-6407: “Research and development of methods for simulation, modelling a machine learning in mechatronics”, and FV-21-26: “Robotic assembly using force interaction”.

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Authors and Affiliations

  1. Institute of Solid Mechanics, Mechatronics and Biomechanics, Faculty of Mechanical Engineering, Brno University of Technology, Technická 2896, Brno, Czech Republic

    Filip Radil, Roman Adámek, Barnabás Dobossy & Petr Krejčí

Authors
  1. Filip Radil
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  2. Roman Adámek
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  3. Barnabás Dobossy
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  4. Petr Krejčí
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Corresponding author

Correspondence to Filip Radil .

Editor information

Editors and Affiliations

  1. NATO M&S COE, Rome, Italy

    Ph.D. Jan Mazal

  2. University of Palermo, Palermo, Italy

    Adriano Fagiolini

  3. Brno University of Technology, Brno, Czech Republic

    Petr Vasik

  4. NATO M&S COE, Rome, Italy

    Michele Turi

  5. Savona Campus, University of Genoa, Savona, Italy

    Agostino Bruzzone

  6. Bundeswehr University Munich, Neubiberg, München, Germany

    Prof. Dr. Stefan Pickl

  7. University of Defence, Brno, Czech Republic

    Vlastimil Neumann

  8. University of Defence, Brno, Czech Republic

    Petr Stodola

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Radil, F., Adámek, R., Dobossy, B., Krejčí, P. (2022). Robotic Snap-fit Assembly with Success Identification Based on Force Feedback. In: , et al. Modelling and Simulation for Autonomous Systems. MESAS 2021. Lecture Notes in Computer Science, vol 13207. Springer, Cham. https://doi.org/10.1007/978-3-030-98260-7_9

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  • DOI: https://doi.org/10.1007/978-3-030-98260-7_9

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-98259-1

  • Online ISBN: 978-3-030-98260-7

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