AUTOMATION OF ASSEMBLY OPERATION BASED ON DUAL-ARM ROBOT

Urgency of the research. Automation as a whole, together with increasing of demands from customer push companies at all levels to the implementation of new and innovative solutions of robotic devices. This reason we consider as sufficient for realization of special customized solution for deployment at assembly operations. Target setting. Purpose of article is to give an example how to increase a level of automation based on specific requirements that consists from assembly area. Actual scientific researches and issues analysis. Actual research is nowadays focused at such problematics, because return of investments based on robotic devices seems to be reliable and people at workplace can realize and focus to another type of tasks. Uninvestigated parts of general matters defining. Specific automated solution based on dual arm robot implementation into the assembly process brings us a new possibility for assembly flow realization together with required assembly sequence for whole operation. The research objective. The aim of article is to provide an idea how to automate such manual assembly tasks with focus to robotic devices implementation. The statement of basic materials. For realization of automated solutions is good to have a suitable material how to solve assembly sequence and assembly process. Conclusions. Published article presents an innovative idea for dual arm robot implementation into the assembly process. Proposed assembly sequence based on human – robot cooperation at this specific workplace gives an example and view how automation of assembly processes can be solved.

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A RRT-based motion planning of dual-arm robot for (Dis)assembly tasks

IEEE ISR 2013 ◽

10.1109/isr.2013.6695698 ◽

2013 ◽

Author(s):

Dong-Hyung Kim ◽

Sung-Jin Lim ◽

Duck-Hyun Lee ◽

Ji Yeong Lee ◽

Chang-Soo Han

Keyword(s):

Motion Planning ◽

Dual Arm Robot ◽

Assembly Tasks ◽

Dual Arm

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Peg-in-hole assembly based on master-slave coordination for a compliant dual-arm robot

Assembly Automation ◽

10.1108/aa-10-2018-0164 ◽

2020 ◽

Vol 40 (2) ◽

pp. 189-198

Author(s):

Yanjiang Huang ◽

Yanglong Zheng ◽

Nianfeng Wang ◽

Jun Ota ◽

Xianmin Zhang

Keyword(s):

Design Methodology ◽

Position Control ◽

Control Model ◽

Torque Control ◽

Human Beings ◽

Content Type ◽

Different Shapes ◽

Dual Arm Robot ◽

Assembly Tasks ◽

Dual Arm

Purpose The paper aims to propose an assembly scheme based on master–slave coordination for a compliant dual-arm robot to complete a peg-in-hole assembly task. Design/methodology/approach The proposed assembly scheme is inspired by the coordinated behaviors of human beings in the assembly process. The left arm and right arm of the robot are controlled to move alternately. The fixed arm and the moving arm are distinguished as the slave arm and the master arm, respectively. The position control model is used at the uncontacted stage, and the torque control model is used at the contacted stage. Findings The proposed assembly scheme is evaluated through peg-in-hole assembly experiments with different shapes of assembly piece. The round, triangle and square assembly piece with 0.5 mm maximum clearance between the peg and the hole can be assembled successfully based on the proposed method. Furthermore, three assembly strategies are investigated and compared in the peg-in-hole assembly experiments with different shapes of assembly piece. Originality/value The contribution of this study is that the authors propose an assembly scheme for a compliant dual-arm robot to overcome the low positioning accuracy and complete the peg-in-hole assembly tasks with different shapes parts.

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Robotized Assembly Process Using Dual Arm Robot

Procedia CIRP ◽

10.1016/j.procir.2014.10.078 ◽

2014 ◽

Vol 23 ◽

pp. 47-52 ◽

Cited By ~ 25

Author(s):

Panagiota Tsarouchi ◽

Sotiris Makris ◽

George Michalos ◽

Michael Stefos ◽

Konstantinos Fourtakas ◽

...

Keyword(s):

Assembly Process ◽

Dual Arm Robot ◽

Dual Arm

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Dual-Arm Peg-in-Hole Assembly Using DNN with Double Force/Torque Sensor

Applied Sciences ◽

10.3390/app11156970 ◽

2021 ◽

Vol 11 (15) ◽

pp. 6970

Author(s):

David Ortega-Aranda ◽

Julio Fernando Jimenez-Vielma ◽

Baidya Nath Saha ◽

Ismael Lopez-Juarez

Keyword(s):

Discrete Event ◽

Machine Learning Algorithms ◽

Torque Sensor ◽

Working Space ◽

Linear Behavior ◽

The Difference ◽

Dual Arm Robot ◽

Failure Conditions ◽

Assembly Tasks ◽

Dual Arm

Assembly tasks executed by a robot have been studied broadly. Robot assembly applications in industry are achievable by a well-structured environment, where the parts to be assembled are located in the working space by fixtures. Recent changes in manufacturing requirements, due to unpredictable demanded products, push the factories to seek new smart solutions that can autonomously recover from failure conditions. In this way, new dual arm robot systems have been studied to design and explore applications based on its dexterity. It promises the possibility to get rid of fixtures in assembly tasks, but using less fixtures increases the uncertainty on the location of the components in the working space. It also increases the possibility of collisions during the assembly sequence. Under these considerations, adding perception such as force/torque sensors have been done to produce useful data to perform control actions. Unfortunately, the interaction forces between mating parts produced non-linear behavior. Consequently, machine learning algorithms have been considered an alternative tool to avoid the non-linearity. In this work we introduce an assembly strategy for an industrial dual arm robot based on the combination of a discrete event controller and Deep Neural Networks (DNN) to solve the peg-in-hole assembly. Our results show the difference between the use of DNN with one and with two force/torque sensors during the assembly task and demonstrate a 30% increase in the assembly success ratio when using a double force/torque sensor.

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