Abstract
The article answers the questions about robotization of the cylindrical joint assembly. A method identifying the shaft position in a robotic assembly at the stage of contact on the face is proposed. A mathematical model has been developed for the chamfer contact based on identifying the output signals from the force-torque sensor. The model is constructed according to a quasi-static formulation. Analytical data have been received determining the jamming conditions and the maximum displacements of parts during robotic assembly. An experimental installation equipped with a force-torque sensor and a gripping device has been created. Chose a rigid fastening scheme for the force-torque sensor and the part in the gripper to organize feedback with the robot control system. The experimental values of the friction coefficient obtained by the authors earlier were used. The regularities of changes in the forces, moments, and angles of the shaft skew that characterize the coupling stage hase been obtained and calculated, and experimental values of forces and moments have been compared. Identifying the contact point position will allow you to adjust the movement of the output link of the robot during the assembly operation. The assembly based on positional force control will ensure the technological reliability of the coupling processes of cylindrical joints with a small gap. The given studies provide intermediate results on developing contact states of the assembly at the stage of contact on the chamfer. Further work contains a solution to the issue of identifying the part at the three-point contact stage.
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Acknowledgements
This research work was carried out in the laboratory “Automation tools and industrial robots” of the Faculty of Mechanical Engineering of the Moscow Poly. The authors express their gratitude to the Department of Technologies and Equipment for Mechanical Engineering, Candidate of Technical Sciences, Associate Professor Alexander Nikolaevich Vasiliev, Moscow Polytechnic University for the opportunity to work in the laboratory, significant support and valuable suggestions for improving research.
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Vartanov, M.V., Petrov, V.K., Nguyen, V.D., Tran, D.V. (2022). Analyzing the Methods Identification Shaft Position in Active Robotic Assembly of “Shaft-Sleeve” Joints with Chamfer Contact. In: Shamtsyan, M., Pasetti, M., Beskopylny, A. (eds) Robotics, Machinery and Engineering Technology for Precision Agriculture. Smart Innovation, Systems and Technologies, vol 247. Springer, Singapore. https://doi.org/10.1007/978-981-16-3844-2_16
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