A novel task-oriented framework for dual-arm robotic assembly task

SUMMARYIn this paper we develop a compilant system that permits robotic assembly of chamferless pieces. The idea is to absorb the positioning error between parts to be inserted by giving one of them a planar random movement. An actuator consisting of two axes (X and y) operated by an electromagnetic System is fitted to the work table; when its inputs are pseudo-random binary signais (P.R.B.S.) random motion is obtained. The trajectories of the actuator are analysed depending upon the P.R.B.S. parameters and a peg-in-a-hole assembly task is carried out. Experimental results show that large positioning errors can be compensated for chamferless insertions.

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Dual manipulator system of the field hot-line working robot in 110-kV substations

Industrial Robot the international journal of robotics research and application ◽

10.1108/ir-11-2016-0320 ◽

2017 ◽

Vol 44 (4) ◽

pp. 479-490 ◽

Cited By ~ 3

Author(s):

Mingdong Tang ◽

Youlin Gu ◽

Yunjian Zhang ◽

Shigang Wang

Keyword(s):

Contact Surface ◽

Position Control ◽

Arc Discharge ◽

Target Position ◽

Experimental System ◽

Robotic Assembly ◽

Surface Erosion ◽

Content Type ◽

Assembly Task ◽

Assembly Tasks

Purpose The purpose of this paper is to present a dual manipulator system for aloft hot-line assembly tasks of connection fittings in 110-kv intelligent substation, which is significant to the research on hot-line working robots. Design/methodology/approach This paper addresses the challenges of the task and presents a dual manipulator system which can overcome these challenges to realize the robotic assembly of connection fittings in narrow space without impacting the safe distance of both phase to phase and phase to ground. Two manipulators share a same global reference coordinate. The mission of Manipulator 1 is to position the fixed part of connection fittings and screw the bolts on it. Visual computing provides the approximately position for the end-effector of Manipulator 2, after which The Manipulator 2 carries the removable part of connection fittings to this position. Then, the assembly task could be completed with the posture of the Manipulator 2 adjusted following the guidance by force-position control. Findings The dual manipulator system can position the target under different illumination conditions and complete fast assembly of connect fittings in 110-kV substation. No strong arc discharge or surface erosion phenomenon has been observed. Practical implications This dual manipulator system will be particularly useful for the hot-line assembly of connection fittings in 110-kv intelligent substation, as well as some assembly tasks where uncertain target position and complex contact surface such as cylindrical hole is involved. Originality/value This study presents a dual manipulator system used by a field robot working in 110-kv intelligent substation. The system is able to achieve the connection fittings assembly task under energized simulation experimental system. Unlike other peg-in-hole assembly strategy, it does not require high stability of manipulator or plane contact surface around the hole.

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Designing for task oriented grasps in robotic assembly

Assembly Automation ◽

10.1108/01445150310460088 ◽

2003 ◽

Vol 23 (1) ◽

pp. 43-52 ◽

Cited By ~ 2

Author(s):

Gordon Lowe ◽

Bijan Shirinzadeh

Keyword(s):

Robotic Assembly ◽

Task Oriented

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