A compliance device for flexible close tolerance assembly

Edmondson, N.F.; Redford, A. H.

doi:10.1108/01439910110365430

Cited by 5 publications

(2 citation statements)

References 9 publications

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“…Following this study Edmondson and Redford (2001c) tested and developed a compliance device for an anthropomorphic robot for use during assembly operations based on a gimbal mechanism (see Figure 6). The study concluded that:…”

Section: Manipulator Selectionmentioning

confidence: 99%

Generic flexible assembly system design

Edmondson

Redford

2002

Assembly Automation

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The development of a generic flexible assembly system involves the design, selection and integration of a number of different mechanical systems in order to develop an assembly system, which is capable of assembling a wide variety of products having an unknown specification. A specific system configuration being dependent on a variety of factors such as, product size, weight, component insertion direction, and manipulator geometry. This paper examines each of the factors that should be considered when designing a generic flexible assembly system and presents a novel generic flexible assembly system design.

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Section: Manipulator Selectionmentioning

confidence: 99%

Generic flexible assembly system design

Edmondson

Redford

2002

Assembly Automation

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“…To ensure the stability of transmission, the assembly clearance of the gear components is minimal. Due to the influence of measurement uncertainty and positioning error of NCL (Edmondson and Redford, 2001), the existing digital docking system cannot be directly used for the docking of large gear components (Wang et al , 1998). If forced docking, it will lead to large assembly stress between gear components, and the equipment’s overall performance and service life will be affected.…”

Section: Introductionmentioning

confidence: 99%

An active compliant docking method for large gear components based on distributed force sensor

Chu

Huang

2022

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Purpose Large gear components widely exist in the transmission system of helicopters, ships, etc. Due to the small assembly clearance of large gear components, using an automatic docking system based on position control will lead to forced assembly. The purpose of this paper is to reduce the assembly stress of large gear components by an active compliant docking technology based on distributed force sensors. Design/methodology/approach Firstly, aiming at the noise interference in three-dimensional force sensor (TDFS), Kalman filter and Savitzky–Golay filter are used to process the sensor’s output signal. Secondly, the active compliant docking control model is constructed according to the principle of impedance control. Thirdly, the contact force is calculated based on the Euler equation, and the impedance control parameters are tuned by the particle swarm optimization algorithm. Finally, an active compliant docking system of a large gear structure based on distributed force sensor is built in the laboratory to verify the proposed method. Findings The experimental results show that the contact force and contact torque gradually decrease in all directions and are always in the safe range during the docking process. The feasibility of this method in practical application is preliminarily demonstrated. Originality/value The distributed TDFSs are used to replace the traditional six-dimensional force sensor in the active compliant docking system of gear components, which solves the problem of the small bearing capacity of the conventional active compliant docking system. This method can also be used for the docking of other large components.

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