Application of the Part Rotation Effect for Reliability of the Robotic Assembly Process

Abstract

The main stage of automatic assembly is the process of parts mating. At this stage, there are problems associated with the probability of jamming the parts. To solve this problem, adaptive assembly heads are usually used. In this case, considerable frictional forces arise and prevent mating. The article deals with the assembly method using the rotational movement effect of the installed part. The effect is achieved due to vibrational device supporting the basic part. The description of the experimental device is presented. A dynamic model of the assembly process using industrial robot ABB IRB140 equipped with a force/torque sensor, is constructed.