Screw-Nut Robotized Assembling (original) (raw)
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Design and Development of a Lead Screw Gripper For Robotic Application
Mechatronics and Applications: An International Journal (MECHATROJ)
This paper gives details on the electromechanical design concept and prototype development of a lead screw linear actuated, parallel robotic gripper. Robotic applications are known to be catering to many industries from a range of tasks namely pick & place, material handling, as fixtures, tool & instrument holders etc. These application specific robots are equipped with end effectors customised with design appropriate for the application. In this paper, presented are the details for the design of an end effector also known as the gripper which works on a lead screw linear mechanism actuated by a dc motor. The gripper of stroke 100 mm is designed to hold bottles, tools or pick and place objects of rectangular section of 90mm x 90mm or of circular section of 90mm diameter and up to 3kg weight. Mechanical assembly comprises a sheet metal fixture plate holding the actuating components and a sheet metal gripper plate performing the gripping action. The motor is driven by a 24V, 2A dc motor driver. The gripping action is sensed and signalled by a force sensitive resistor. Prototype development of the gripper and on/off testing for the gripping action is investigated. The mechanical construction for this unique lead screw gripper is observed to be robust and can be used as an end effector to a suitable robotic arm.
Design of an industrial robotic gripper for precise twisting and positioning in high-speed assembly
In electronic manufacturing system, the design of the robotic hand is important for the successful accomplishment of the assembly task. Due to the restriction of the architecture of traditional robotic hands, it is difficult to grasp the cylinder shaped assembly parts with correct posture. In this research, a novel 4-DOF jaw like gripper is designed and built for precise positioning and twisting online. It can apply a constant gripping force on assembly parts and perform reliable twisting movement. Manipulating a cylinder shaped assembly part by robot, as an experimental case in this paper, is studied to evaluate the performance. The effectiveness of proposed gripper design and mechanical analysis is proved by the experiments.
A pivoting gripper for feeding industrial parts
Proceedings of the 1994 IEEE International Conference on Robotics and Automation
To be cost effective and highly precise, many industrial assembly robots have only four degrees of freedom (D.O.F.) plus a binary pneumatic gripper. Such robots commonly permit parts to be rotated only about a vertical axis. However it is often necessary to reorient parts about other axes prior to assembly. In this paper we describe a way to orient parts about an arbitrary axis by introducing a rotating bearing between the jaws of a simple gripper. Based on this mechanism, we are developing a rapidly configurable vision-based system for feeding parts. In this system, a camera determines initial part pose; the robot then reorients the part to achieve a desired final pose. We have implemented a prototype version in our laboratory using a commercially-available robot system.
Lecture Notes on Multidisciplinary Industrial Engineering, 2018
In today's era of mass customization, assembly automation systems should be designed with necessary production flexibility to cope with the growing product varieties to adapt to diverse customer requirements, yet the production costs should not be significantly different from those of comparable products made by mass production. In order to cope with this product variety-cost trade-off, robotics offers a flexible automation technology for turning assembly systems into efficient and flexible systems. Despite their great potential for high flexibility, there is a range of issues which must be addressed for its successful implementation. This chapter examines some of these key issues and challenges, reviews the results of previous research and describes our ongoing research on development of a flexible assembly system for mechanical products, using an industrial robot with machine vision guidance and dexterous multi-finger gripper. As part of the research work reported in this chapter, a Sexual Genetic Algorithm (SGA)-based approach for generation of optimal assembly sequence, a knowledge-based system for generating the robot task-level plan, a multi-finger robot gripper for flexible assembly based on a tendon-driven mechanism and an impedance control algorithm, and finally a strategy for implementation of robotic assembly under machine vision guidance have been presented.
Automated robot-based screw insertion system
IECON 98, 1998
This paper introduces an automated robot-based system for the insertion of self-tapping screws into unthreaded holes. The system consists of three main components: a manipulator-guided screwdriver, a camera and a system which controls and monitors the overall process. The focus of this paper is on the key stages of the insertion procedure: a) detection of the insertion location by means of a camera, b) positioning of the electrical screwdriver employing a manipulator, and c) appropriately monitored insertion of a screw. Experiments were carried out in order to identify the requirements needed for a fully automated insertion system. Results are presented.
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014
In electronic manufacturing system, the design of the robotic hand with sufficient dexterity and configuration is important for the successful accomplishment of the assembly task. It is significant that the robot can grasp assembly parts and do some simple in-hand manipulation so as to fit them with the package slots. In this research, we study the process of precise in-hand posture transition problem using a novel jaw like gripper with human-sized anthropomorphic features. We transform the in-hand manipulation problem into a series of static grasping problems. Then we study the successful twisting condition on each grasp frame by analyzing its dynamic performance and requirements. Based on this data-driven idea, simulation and experimental data is obtained from both successful and failed trials. Finally, we create the distribution of parameters grasp map for successful twisting.
Robotized Assembly Process Using Dual Arm Robot
Procedia CIRP, 2014
This paper investigates into the use of a dual arm robot system for performing manual assembly operations. The investigation is based on a case study, originating from the final assembly area of an automotive assembly plant. The motivation as well as the benefits derived from the employment of a dual arm robot are discussed. The station layout, tooling design and robot programming are elaborated. The use of a dual arm robot enables the performance of operations that are carried out by humans, while the comparison of using single arm robots offers a number of advantages, which are discussed in the paper. The assembly of a vehicle dashboard is used as the use case coming from the automotive industry.
Robotic assembly : chamferless peg-hole assembly operation from X/Y/Z directions
2000
A great deal of research of the robotic peg-in hole assembly operation has evolved over the past decades. In the case of a chamfered peg-hole, it is normal to use a simple wrist such as the Remote Centre Compliance (RCC), which is fitted between the robot arm and the end effector to accommodate misalignments between the peg and the hole during the engagement stage. Otherwise jamming could occur and cause damage to the assembly robot and or the mating parts. However, in case of no chamfer on either of the mating parts, complicated and expensive devices are used to accommodate the same misalignments as the RCC. The objective of this research is to develop a new paSSIve assembly strategy and consequently a compliant wrist for the peg-hole insertion process. The wrist should adopt the passive technique as the RCC, but should accommodate positional errors even in case of no chamfer on either of the peg or the hole. Moreover, it should function from vertical as well as the horizontal dire...
Experimental studies of robotic assembly of precision parts
FME Transactions, 2021
At present, robotization of assembly processes is achieved through the use of industrial robots with high positioning accuracy in conjunction with tactile means of adaptation to the conditions of assembly of precision parts. The cost of such robots is many times higher than the cost of simple robots with low positioning accuracy of the robot arm. The research in this article is aimed at reducing the cost of assembly processes for precision parts by applying the position correction of the connected parts not by the robot hand, but by an additional technological module that is installed on the manipulator of a simple robot and performs high-speed stochastic mismatch scan of assembly objects. The article presents the results of a full factorial experiment of the process of joining precision cylindrical parts with a gap of no more than 3...5 microns. A regression model of this process is proposed, a formula for calculating the quasi-optimal modes of precision assembly and graphanalytica...
High Reconfigurable Robotic Gripper for Flexible Assembly
This paper describes a general purpose gripper to be used into industrial manufacturing application. The gripper has been developed in the context of the AUTORECON project. It is based on a 2 degrees of freedom finger that is able to adapt itself to objects of various shape, size, material and weight. Thanks to its highly reconfigurable and adaptive capabilities, the gripper described here is an attempt to create a gripper suitable in industrial application to assemble compounds of several different workpieces using only one robot. The high dexterity and the wide range of possible uses of the gripper described here intends to explore a new approach to the design of industrial grippers to be used in factory automation. Moreover, the adaptive capabilities of this gripper make it suitable to grasp workpieces with complicated geometry or highly irregular shape, as it has been proved in performed automotive test rig described here.