A Visual Grasping Strategy for Improving Assembly Efficiency Based on Deep Reinforcement Learning

The adjustment times of the attitude alignment are fluctuated due to the fluctuation of the contact force signal caused by the disturbing moments in the compliant peg-in-hole assembly. However, these fluctuations are difficult to accurately measure or definition as a result of many uncertain factors in the working environment. It is worth noting that gravitational disturbing moments and inertia moments significantly impact these fluctuations, in which the changes of the peg concerning the mass and the length have a crucial influence on them. In this paper, a visual grasping strategy based on deep reinforcement learning is proposed for peg-in-hole assembly. Firstly, the disturbing moments of assembly are analyzed to investigate the factors for the fluctuation of assembly time. Then, this research designs a visual grasping strategy, which establishes a mapping relationship between the grasping position and the assembly time to improve the assembly efficiency. Finally, a robotic system for the assembly was built in V-REP to verify the effectiveness of the proposed method, and the robot can complete the training independently without human intervention and manual labeling in the grasping training process. The simulated results show that this method can improve assembly efficiency by 13.83%. And, when the mass and the length of the peg change, the proposed method is still effective for the improvement of assembly efficiency.

Features of Index-Ring Finger Pair’s Force Contribution in Multi-Finger Force-Following Tasks

New types of cylindrical handles such as pushrims with force signal sensors under four fingers (excluding the thumb) enable real-time gripping-status assessment. The mirrored change phenomenon of the index and ring fingers observed in linear grip tasks offers a new perspective on finger grouping. To evaluate the force contribution of index-ring finger pair in multi-finger force, 10 right-handed male participants with similar hand sizes were recruited to participate in sinusoidal function force-following tasks involving a cylindrical handle. The real-time signal of the grip force and individual finger force were recorded to analyze real-time changes in the finger force contribution (FC). Subsequently, the time-FC curves of individual and paired fingers were analyzed. Results show are as follows: (1) When the FC of the index-ring finger pair exceeded that of the middle-little finger pair, the gripping load was relatively low, and a smaller difference between the FCs of the index-ring finger pair and the middle-little finger pair indicated a smaller following error. (2) The FC of index-ring finger pair is a better (higher-linearity) parameter to assess gripping status. These findings show that the paired-finger FC is an adequate parameter for the gripping-status assessment.

A NEW CRITERION FOR DRILLING MACHINABILITY EVALUATION OF NANOCOMPOSITES MODIFIED BY GRAPHENE/CARBON FIBER EPOXY MATRIX AND OPTIMIZATION USING COMBINED COMPROMISE SOLUTION

This article describes new control criteria and robust optimization methodology to balance drilling parameters and machining characteristics. Experimentation was performed according to response surface methodology (RSM) using a TiAlN coated SiC tool. The full drilling force signal and cutting parameters tested are categorized into five stages, indicating the drilling tool-workpiece interactions’ different statuses. Principal component analysis (PCA) assigns real response priority weight during the aggregation of conflicting characteristics. The hybrid module of combined compromise solution and PCA (CoCoSo–PCA) is used to decide the optimal parametric setting. It efficiently undertakes a trade-off between minimal thrust ([Formula: see text][Formula: see text]N), torque ([Formula: see text][Formula: see text]Nm) surface roughness ([Formula: see text]m). A regression model between input parameters and output function was established using RSM quadratic model. The validation experiment shows significant improvement, and the proposed module can be recommended for quality-productivity characteristics control.

Analysis of machining-induced residual stresses of milled aluminum workpieces, their repeatability, and their resulting distortion

Machining-induced residual stresses (MIRS) are a main driver for distortion of thin-walled monolithic aluminum workpieces. Before one can develop compensation techniques to minimize distortion, the effect of machining on the MIRS has to be fully understood. This means that not only an investigation of the effect of different process parameters on the MIRS is important. In addition, the repeatability of the MIRS resulting from the same machining condition has to be considered. In past research, statistical confidence of MIRS of machined samples was not focused on. In this paper, the repeatability of the MIRS for different machining modes, consisting of a variation in feed per tooth and cutting speed, is investigated. Multiple hole-drilling measurements within one sample and on different samples, machined with the same parameter set, were part of the investigations. Besides, the effect of two different clamping strategies on the MIRS was investigated. The results show that an overall repeatability for MIRS is given for stable machining (between 16 and 34% repeatability standard deviation of maximum normal MIRS), whereas instable machining, detected by vibrations in the force signal, has worse repeatability (54%) independent of the used clamping strategy. Further experiments, where a 1-mm-thick wafer was removed at the milled surface, show the connection between MIRS and their distortion. A numerical stress analysis reveals that the measured stress data is consistent with machining-induced distortion across and within different machining modes. It was found that more and/or deeper MIRS cause more distortion.

Cutting Forces in Peripheral Up-Milling of Particleboard

An analysis of forces acting in the peripheral up-milling of particleboard is presented. First, a novel method of high-frequency piezoelectric force signal treatment is proposed and used to separate the original force signal from the vibrations of the previous cutting iteration. This allows for the analysis of single chip cutting force courses during industrial CNC (Computer Numerical Control) milling. The acting forces are compared with the theoretical, instantaneous, uncut chip thickness. The results show that, for a range of 40–60 m/s, the higher the cutting speed used, the higher the resultant and principal cutting forces. The method of cutting thrust force used was similar to that observed in solid wood milling, i.e., first using a pushing action, followed by a pulling action. The obtained average specific principal cutting forces for particleboard peripheral up-milling are equal to 32.0 N/mm2 for slow and 37.6 N/mm2 for fast milling. The specific cutting thrust force decreases with the increase in instantaneous uncut chip thickness.