Study on the Bearing Flexible Assembly by Three Joints Robot

2011 ◽  
Vol 422 ◽  
pp. 131-135
Author(s):  
Jian Hua Zhang ◽  
Da Wei Fu ◽  
Xiao Jun Zhang
Keyword(s):  
Force Sensor ◽  
Assembly Process ◽  
Joint Movement ◽  
Important Process ◽  
Kinematics Analysis ◽  
Flexible Assembly ◽  
Compliant Assembly ◽  
Bearing Assembly ◽  
Assembly Precision ◽  
Movement Angle

Assembly is an important process in the manufacturing processes. For the badly self-adaptive and flexibility, the stuck phenomena and inefficient are often occurred with certain the assembly precision and fit, by using the robot for assembly. In this paper, the kinematics analysis of the three joints robot, which is used to assembly the bearing, is analyzed; the end joint movement angle formula is calculated. The force sensor is used during the assembly process. To ensure the assembly process, a new way is proposed to find the compliant assembly centre, which help the assembly robot to complicate the assemble process. The bearing assembly process is introduced by the three joint robots system.

Variation Analysis for Compliant Assembly

2000 ◽  
Author(s):  
S. Jack Hu ◽  
Yufeng Long ◽  
Jaime Camelio
Keyword(s):  
Sheet Metal ◽  
Assembly Line ◽  
Assembly Process ◽  
Variation Analysis ◽  
Assembly Lines ◽  
Compliant Assembly ◽  
Single Station ◽  
Dimensional Variation ◽  
Sheet Metal Assembly

Abstract Assembly processes for compliant non-rigid parts are widely used in manufacturing automobiles, furniture, and electronic appliances. One of the major issues in the sheet metal assembly process is to control the dimensional variation of assemblies throughout the assembly line. This paper provides an overview of the recent development in variation analysis for compliant assembly. First, the unique characteristics of compliant assemblies are discussed. Then, various approaches to variation modeling for compliant assemblies are presented for single station and multi-station assembly lines. Finally, examples are given to demonstrate the applications of compliant assembly variation models.

Comprehensive identification of aircraft coordination feature based on complete importance modeling and its engineering application

2018 ◽  
Vol 38 (4) ◽  
pp. 398-411 ◽  
Author(s):  
Feiyan Guo ◽  
Fang Zou ◽  
Jian Hua Liu ◽  
Bo Zhao ◽  
Zhongqi Wang
Keyword(s):  
Engineering Application ◽  
Laboratory Method ◽  
Correction Coefficient ◽  
Assembly Process ◽  
Quality Loss ◽  
Content Type ◽  
Aircraft Manufacturing ◽  
Close Relationship ◽  
Geometric Size ◽  
Assembly Precision

Purpose Coordination feature (CF) is the information carrier in dimension and shape transfer process in aircraft manufacturing. The change of its geometric size, shape, position or other attributes would affect the consistency of accumulated errors between two or more assemblies. To identify these “key characteristics” that have a close relationship with the assembly precision, a comprehensive method was developed under digital manufacturing environment, which was based on importance calculation. The multi-hierarchy and multi-station assembly process of aircraft products were also taken into consideration. Design/methodology/approach First, the interaction and evaluation relationship between components at different manufacturing stages was decomposed with a hierarchical net. Second, to meet coordination accuracy requirements, with the integrated application of Taguchi quality loss function, accuracy principal and error correction coefficient H, the quality loss between target features and candidate features at adjacent assembly hierarchies were calculated, which was based on their precision variation. Third, the influence degree and affected degree of the features were calculated with DEMATEL (decision-making trial and evaluation laboratory) method, and the concepts of centrality degree index and cause degree index were proposed for calculating the complete importance degree to eventually identify the CFs. Findings Based on the proposed methodology, CFs, affecting the skin profile and the flush coordination accuracy, were successfully identified at different assembly hierarchies to a certain type of wing flap component. Originality/value Benefit results for the engineering application showed that the deviation of skin profile was more accurate than before, and the tolerance was also closer to the centerline of required assembly precision range. Moreover, the stability in the assembly process was increased by 26.9 per cent, which could bring a higher assembly quality and an enhancement on aircraft’s flight performance.

scholarly journals Semantic-Based Assembly Precision Optimization Strategy Considering Assembly Process Capacity

Machines ◽  
2021 ◽  
Vol 9 (11) ◽  
pp. 269
Author(s):  
Xiaolin Shi ◽  
Xitian Tian ◽  
Gangfeng Wang ◽  
Dongping Zhao
Keyword(s):  
Optimization Method ◽  
Assembly Process ◽  
Optimization Strategy ◽  
Success Rates ◽  
Ontology Language ◽  
Key Characteristics ◽  
Fast Solution ◽  
Important Means ◽  
The One ◽  
Assembly Precision

Assembly precision optimization is an important means to ensure product accuracy, including two aspects: on the one hand, the relevant deviations of out-of-tolerance key characteristics are reduced to the design tolerance range; on the other hand, the deviation fluctuation range of key characteristics with a large process capability index (Cp) can be extended to achieve the balance between accuracy, process capacity, and production cost. By virtue of the accumulated experience, a fast solution can be provided for the out-of-tolerance problem. Therefore, a semantic-based assembly precision optimization method considering process capacity is proposed in this paper. By constructing an ontology model between Cp and optimization strategy, a reasonable assembly precision optimization strategy can be pushed based on product accuracy analysis results. Firstly, an assembly precision optimization semantic model is established by association between analysis results, out-of-tolerance key characteristics, assembly process, and tolerance adjustment defined with Web Ontology Language (OWL) assertions. Furtherly, according to different Cp corresponding to different assembly success rates, Semantics Web Rule Language (SWRL) rules based on Cp are constructed to the push optimization strategy. Finally, the effectiveness of the model is illustrated by an aircraft inner flap.

Force and position deviations estimation for ultra-thin tube assembly

2016 ◽  
Vol 36 (4) ◽  
pp. 405-411 ◽  
Author(s):  
Chao Shao ◽  
Xin Ye ◽  
Zhijing Zhang ◽  
Dengyu Zhou ◽  
Yuhong Liu
Keyword(s):  
Process Parameters ◽  
Visual Information ◽  
Force Sensor ◽  
Contact Forces ◽  
Assembly Process ◽  
Content Type ◽  
Multi Scale ◽  
Thin Tube ◽  
Mechanic Calculation ◽  
Tube Assembly

Purpose Micro ultra-thin tubes have important implications in aerospace, nuclear energy and other fields. In microassembly process, these parts are characterized by following reasons: the small size can easily lead to damage when gripping, even for low intensity and the parts are mainly affected by the instability of light source, for vision-based systems, the visual information about ultra-thin tubes is difficult to gather and the contact state is hard to monitor. Design/methodology/approach The paper presents a new method to adjust the position deviations based on contact forces during microassembly processes. Specific research is such that the assembly model was established based both on mechanic calculation and numerical simulation; the assembly task was carried out on an in-house microassembly system with coaxial alignment function (MSCA), the contact statements were controlled based on force sensor feedback signals and the model of the relationship between contact force and assembly deviations was established. Through a comparative study, the results of experiment and simulation differ by less than 11 per cent, validating the accuracy and feasibility of the method. Findings The model of assembly force and position deviations of micro ultra-thin tubes based on MSCA has been built. Besides, the assembly force threshold, and the assembly process parameters have been obtained. Originality/value The assembly process parameters obtained from experiments can be applied in the precision assembly and provide theoretical guidance and technical support to the precision assembly of the multi-scale parts.

scholarly journals Research on Discrete Semantics in Continuous Hand Joint Movement Based on Perception and Expression

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3735
Author(s):  
Lesong Jia ◽  
Xiaozhou Zhou ◽  
Hao Qin ◽  
Ruidong Bai ◽  
Liuqing Wang ◽  
...  
Keyword(s):  
Real World ◽  
Leap Motion ◽  
Joint Movement ◽  
Hand Motion ◽  
Digital World ◽  
Motion Primitive ◽  
State Construction ◽  
Gesture Design ◽  
Continuous Movements ◽  
Movement Angle

Continuous movements of the hand contain discrete expressions of meaning, forming a variety of semantic gestures. For example, it is generally considered that the bending of the finger includes three semantic states of bending, half bending, and straightening. However, there is still no research on the number of semantic states that can be conveyed by each movement primitive of the hand, especially the interval of each semantic state and the representative movement angle. To clarify these issues, we conducted experiments of perception and expression. Experiments 1 and 2 focused on perceivable semantic levels and boundaries of different motion primitive units from the perspective of visual semantic perception. Experiment 3 verified and optimized the segmentation results obtained above and further determined the typical motion values of each semantic state. Furthermore, in Experiment 4, the empirical application of the above semantic state segmentation was illustrated by using Leap Motion as an example. We ended up with the discrete gesture semantic expression space both in the real world and Leap Motion Digital World, containing the clearly defined number of semantic states of each hand motion primitive unit and boundaries and typical motion angle values of each state. Construction of this quantitative semantic expression will play a role in guiding and advancing research in the fields of gesture coding, gesture recognition, and gesture design.

Sensory System Design as an Implement for the Development of the Intelligent Assembly Cell

2012 ◽  
Vol 628 ◽  
pp. 287-291
Author(s):  
Roman Ružarovský ◽  
Nina Danišová ◽  
Karol Velíšek
Keyword(s):  
Sensory System ◽  
Automatic Monitoring ◽  
Assembly Process ◽  
Flexible Assembly ◽  
Object Properties ◽  
First Case ◽  
Assembly Cell ◽  
The Status ◽  
Intelligent Behavior ◽  
Equipment Application

Intelligent assembly cell conception includes new solution kind of how to create structures of automated and flexible assembly system. Intelligent behavior of the system as the control system will repose on monitoring of important parameters of the system in the real time. The designed automation sensory equipment provides for automatic monitoring of all automated equipment motions in the first case and in the second important level is important to obtain the information about the status, presence and character of the assembled objects or assembly process. The application of the sensory equipment in the intelligent assembly process is designed on the ground of the sensory object properties of the pneumatic actuator model. In the paper is described the sensor equipment application for the assembly part sorting situated before the input of the object into the assembly process and for the check function of assembly product is designed the combination of sensory equipment.

The Mechanical System Structure Design and Kinematics Analysis of the Bipedal Humanoid Robot Leg

2014 ◽  
Vol 496-500 ◽  
pp. 857-860
Author(s):  
Deng Qi Cui ◽  
Hong Bing Xin ◽  
Long Liu ◽  
Tan Wang ◽  
Yue Fei Xin
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Screw Theory ◽  
Structure Design ◽  
System Structure ◽  
Joint Movement ◽  
Kinematics Analysis ◽  
Walking Robot ◽  
Design Requirements ◽  
The Mathematical Model

In the study of humanoid robot, the system design and analysis of the legs is the foundation of realizing humanoid walking robot. In this paper, structure design of each leg joint has been introduced, and according to the degrees of freedom of each joint distribution, using screw theory and exponential product formula to establish the mathematical model of the legs, to analyze the kinematics of the legs, finally obtains that the range of joint movement comply with the design requirements.

scholarly journals Design and Analysis of a Novel Six-Component F/T Sensor based on CPM for Passive Compliant Assembly

2013 ◽  
Vol 13 (5) ◽  
pp. 253-264 ◽  
Author(s):  
Qiaokang Liang ◽  
Dan Zhang ◽  
Yaonan Wang ◽  
Yunjian Ge
Keyword(s):  
Structural Design ◽  
Parallel Mechanism ◽  
High Performance ◽  
High Sensitivity ◽  
Force Sensor ◽  
Element Analysis ◽  
Compliant Assembly ◽  
Compliant Parallel Mechanism ◽  
Passive Compliance ◽  
Component Force

Abstract This paper presents the design and analysis of a six-component Force/Torque (F/T) sensor whose design is based on the mechanism of the Compliant Parallel Mechanism (CPM). The force sensor is used to measure forces along the x-, y-, and z-axis (Fx, Fy and Fz) and moments about the x-, y-, and z-axis (Mx, My and Mz) simultaneously and to provide passive compliance during parts handling and assembly. Particularly, the structural design, the details of the measuring principle and the kinematics are presented. Afterwards, based on the Design of Experiments (DOE) approach provided by the software ANSYS®, a Finite Element Analysis (FEA) is performed. This analysis is performed with the objective of achieving both high sensitivity and isotropy of the sensor. The results of FEA show that the proposed sensor possesses high performance and robustness.

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