scholarly journals Research of the reliability of a robotic assembly based on the effect of rotation and low-frequency vibrations

2021 ◽  
Vol 2131 (5) ◽  
pp. 052026
Author(s):  
M V Vartanov ◽  
T T Tran
Keyword(s):  
Mathematical Model ◽  
Rotational Motion ◽  
Low Frequency ◽  
Robotic Assembly ◽  
Assembly Process ◽  
Automatic Assembly ◽  
Rotational Movement ◽  
Assembly Method ◽  
Set Up ◽  
Technological Mode

Abstract Using various physical and technical effects in automatic assembly is a promising tendency to increase the technological reliability of the assembly process. The article presents a method for robotic assembly of cylindrical joints using the effect of rotational motion and low-frequency vibrations. The effect can be achieved by using low-frequency vibrations of the base part with the help of a vibrating device and the rotational movement of the installed part with the help of the rotational movement of the robot out-put link. The paper presented a mathematical model of the dynamics of the robotic assembly process of cylindrical joints. Experiments were set up and carried out to test the effectiveness of the proposed assembly method. The research results affirmed that with a rational technological mode of the robotic assembly process using the effect of rotation and low-frequency vibrations, the probability of jamming is completely eliminated and the assembly force is significantly reduced.

Mathematical model of a robotized assembly in the presence of vibrations and gripper rotation

2020 ◽  
pp. 299-304
Author(s):  
M.V. Vartanov ◽  
Trung Ta Tran
Keyword(s):  
Mathematical Model ◽  
Friction Force ◽  
Rotational Motion ◽  
Robotic Assembly ◽  
Assembly Process ◽  
Dynamics Model ◽  
Assembly Method ◽  
Robot Gripper

The assembly method using the effect of rotational motion and vibration is considered. The presence of rotation allows to signifi cantly reducing the friction force in connection, which prevents the assembly process. The effect is achieved due to using the rotation of robot gripper and the vibrating device. A mathematical dynamics model of the robotic assembly process is presented

scholarly journals Investigating the Conditions of Automatic Assembly of Polyhedral Joints

2021 ◽  
Author(s):  
Mikhail Vladimirovich Vartanov ◽  
Zinina Inna Nikolaevna ◽  
Klimenko Irina Leontievna ◽  
Tran Dinh Van
Keyword(s):  
Mathematical Model ◽  
Experimental Studies ◽  
Low Frequency ◽  
Robotic Assembly ◽  
Flexible Link ◽  
Inertial Coordinate System ◽  
Assembly Method ◽  
Low Frequency Oscillations ◽  
Process Reliability ◽  
Simultaneous Rotation

Abstract Purpose – Providing the technological reliability of the robotic assembly of joints with RK-profile on the basis of adaptation devices and low-frequency oscillations. Design/methodology/approach – Ensuring the assembly conditions is achieved by the vibration device that provides oscillations relative to the two axes, perpendicular to the assembly direction and rotation about the assembly axis. Compensation of the linear error in the position of the parts is attained by an adaptive gripper with a flexible link. Findings – A mathematical model describing the assembly process of parts relative to the non-inertial coordinate system is developed. The technological modes of profile parts assembly are defined. Originality/value – The robotic assembly method of profile joints by the adaptation devices, namely a combination of elastic fixing of the installed profile part and the simultaneous rotation and vibration of the base part to improve the process reliability is developed. Experimental studies confirmed the adequacy of the created mathematical model. The patent for the assembly method of profile joints with a gap is received.

Design of Automatic Assembly System of Saw Chain

2011 ◽  
Vol 141 ◽  
pp. 239-243
Author(s):  
Ze Xin Ding ◽  
Feng Yuan ◽  
Jun Zhu
Keyword(s):  
Poor Quality ◽  
Assembly System ◽  
Positioning System ◽  
Assembly Process ◽  
Automatic Assembly ◽  
Assembly Quality ◽  
Assembly Method ◽  
Low Efficiency

The automatic assembly system of saw chain is designed to solve the low efficiency and poor quality of its assembly process according to the actual requirements of production. Firstly, the structure of saw chain and its automatic assembly requirements are analysed. Secondly, the different design plans on assembly process and assembly method are proposed and compared. Finally, the automatic assembly system of saw chain is designed, which is composed of feeding device and clamp positioning system. This system can not only realize the automatic assembly of saw chain, but also improve the assembly quality and prolong the using life of saw chain.

Numerical Study of the Percussive Riveting Process: Initial Results

2019 ◽  
Author(s):  
Sai C. Krovvidi ◽  
M. Ramulu ◽  
Per G. Reinhall
Keyword(s):  
Numerical Study ◽  
Bulk Material ◽  
Longitudinal Direction ◽  
Assembly Process ◽  
Dynamics Modeling ◽  
Assembly Method ◽  
Compressive Stresses ◽  
Riveting Process ◽  
Set Up ◽  
Residual Stresses And Strains

Abstract Percussive riveting is a dependable assembly method that produces high-quality joints in the aerospace industry. Its successful application is derived from its ease to implement in an assembly floor environment. The rivets are formed on the shank end of the rivet using a forming tool like a bucking bar and the head is constrained and impacted with a rapid succession of hits using a pneumatic gun with a special purpose die head. The rivet forms an interference fit joint because of the residual compressive stresses that are set up in the circumferential direction due to plastic flow of rivet material. These compressive stresses are balanced by tensile stresses in the skin and stiffener bulk material. Compressive stresses in the longitudinal direction help keep the skins pressed together. Research studies focused on the dynamics modeling of the percussive riveting process for robotic automation have not delivered an understanding of the temporal evolution of stress and strain fields in the vicinity of the rivet and the rivet hole. These studies aimed to produce joints of equal strength using automated assembly process compared with the manual assembly process. No modeling efforts have been published up to this point in time. This understanding is important in order to produce joints of predictable strength. A simulation effort for an unstiffened percussive riveting stackup assembly will be undertaken to study the trends of beneficial compressive residual stresses and strains within the bucked rivet. It is our goal to eventually estimate joint strength for prescribed sets of joint assembly parameters. The domain of interest will be restricted to few inches from the rivet axis.

Mathematical model of robotic assembly by means of adaptation and low-frequency vibration

2017 ◽  
Vol 37 (1) ◽  
pp. 130-134 ◽  
Author(s):  
Michael V. Vartanov ◽  
Leonarda V. Bojkova ◽  
Inna N. Zinina
Keyword(s):  
Mathematical Model ◽  
Design Methodology ◽  
Low Frequency ◽  
Robotic Assembly ◽  
Contact Conditions ◽  
Content Type ◽  
Process Dynamics ◽  
Contact Points ◽  
Low Frequency Vibration ◽  
The Mathematical Model

Purpose The purpose of this paper is to define the conditions for a failsafe coupling of parts when using adaptation and low-frequency vibrations. A model enables us to determine the reaction at the contact points of parts and time-based contact conditions changes. Therefore, the conditions of jamming parts can be defined in the process of conjugation. Design/methodology/approach A mathematical model describing the trajectory of the part mass center in robotic assembly is created. An experimental equipment is also presented in the paper. Convergence of theoretical and experimental results that characterize the reliability of processes is estimated. Findings The mathematical model of the connection process dynamics is found in the form of Lagrange’s equations of the second kind. Originality/value Applying low-frequency vibration and the adaptive gripper is proposed to extend technological capabilities of robotic assembly.

Analyses of peg‐hole jamming in automatic assembly machines

2011 ◽  
Vol 31 (4) ◽  
pp. 358-362 ◽  
Author(s):  
Ryspek Usubamatov ◽  
K.W. Leong
Keyword(s):  
Mathematical Model ◽  
Boundary Condition ◽  
Design Methodology ◽  
Manufacturing Industry ◽  
Critical Depth ◽  
Assembly Process ◽  
Automatic Assembly ◽  
Content Type ◽  
The Mathematical Model ◽  
Practical Implications

PurposeThe purpose of this paper is to investigate theoretically the process of jamming in the peg‐hole type parts and to derive a mathematical model of jamming.Design/methodology/approachThe mathematical model of the jamming of the peg‐hole type parts in assembly process was performed and its boundary conditions, which lead to jamming, defined.FindingsThe equation of the critical angles of declination for the peg, which leads to the peg‐hole jam, was derived. The boundary condition of the angles of declination and the depth of the peg insertion into the hole were defined.Research limitations/implicationsA mathematical model is developed for rigid parts with a hole and for the peg clamped in the rigid assembly mechanisms. The research has not considered flexible deformations and stiffness of the assembly mechanisms, which result in the peg's declination in the assembly process.Practical implicationsThe results are represented in the form of the peg's critical angles of declination and critical depth of insertion into the hole, which leads to jamming of the peg‐hole type parts to be assembled. On the basis of the obtained results, it is possible to formulate the tolerances of the declination angles for the assembly mechanisms, which clamp the peg‐type parts.Originality/valueThe proposed method calculating the critical angles of the peg's declination and critical depth of the peg's insertion into the hole for assembly of the peg‐hole type parts, enables one to increase the reliability of the assembly process in the manufacturing industry.

Research on Dynamic Balance Method of Precision Centrifuge

2014 ◽  
Vol 945-949 ◽  
pp. 777-780
Author(s):  
Tao Liu ◽  
Yong Xu ◽  
Bo Yuan Mao
Keyword(s):  
Mathematical Model ◽  
Balance Control ◽  
Dynamic Balance ◽  
Dynamic Balancing ◽  
Structure Characteristics ◽  
Balance System ◽  
Simulation Results ◽  
Set Up ◽  
System Controller ◽  
The Mathematical Model

Firstly, according to the structure characteristics of precision centrifuge, the mathematical model of its dynamic balancing system was set up, and the dynamic balancing scheme of double test surfaces, double emendation surfaces were established. Then the dynamic balance system controller of precision centrifuge was designed. Simulation results show that the controller designed can completely meet the requirements of precision centrifuge dynamic balance control system.

scholarly journals Addressing the COVID-19 transmission in inner Brazil by a mathematical model

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
G. B. Almeida ◽  
T. N. Vilches ◽  
C. P. Ferreira ◽  
C. M. C. B. Fortaleza
Keyword(s):  
Mathematical Model ◽  
Disease Transmission ◽  
Abiotic Factors ◽  
Severe Pneumonia ◽  
Mitigation Strategies ◽  
Social Distancing ◽  
Control Disease ◽  
Set Up ◽  
Novel Coronavirus ◽  
Public Health Strategies

AbstractIn 2020, the world experienced its very first pandemic of the globalized era. A novel coronavirus, SARS-CoV-2, is the causative agent of severe pneumonia and has rapidly spread through many nations, crashing health systems and leading a large number of people to death. In Brazil, the emergence of local epidemics in major metropolitan areas has always been a concern. In a vast and heterogeneous country, with regional disparities and climate diversity, several factors can modulate the dynamics of COVID-19. What should be the scenario for inner Brazil, and what can we do to control infection transmission in each of these locations? Here, a mathematical model is proposed to simulate disease transmission among individuals in several scenarios, differing by abiotic factors, social-economic factors, and effectiveness of mitigation strategies. The disease control relies on keeping all individuals’ social distancing and detecting, followed by isolating, infected ones. The model reinforces social distancing as the most efficient method to control disease transmission. Moreover, it also shows that improving the detection and isolation of infected individuals can loosen this mitigation strategy. Finally, the effectiveness of control may be different across the country, and understanding it can help set up public health strategies.

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