Alignment of the Parts Using High Frequency Vibrations

Sadauskas, E.; Bakšys, B.

doi:10.5755/j01.mech.19.2.4164

Cited by 5 publications

(5 citation statements)

References 5 publications

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“…In this case the knowledge evolved from the same geometry and we referred to as knowledge enhancement (insertions 13-16). The following test was to observe the robustness of the MAC by changing the part geometry again assembling the radiused-square peg (insertions [17][18][19][20]. It was observed that none of the patterns were learnt; however, the MAC still had to forget patterns since the new conditions with different offset triggered a further knowledge refinement.…”

Section: Knowledge Generalisation Of the Ekbmentioning

confidence: 99%

“…Other novel approaches include the use of a set of mirrors in order to determine the misalignment between mating pairs useful even during self-occlusion by the robot [19]. Vibration at the peg's tip has been employed following an elliptical trajectory using a piezoelectric vibrator with frequencies in excess of 7 kHz [20]. High stiffness provided by a parallel actuator at the robot's wrist in conjunction with force/torque (F/T) sensing has also been used so that stable contact with stiff environments can be obtained [21].…”

Section: Related Workmentioning

confidence: 99%

See 1 more Smart Citation

On-line knowledge acquisition and enhancement in robotic assembly tasks

Navarro-Gonzalez

López-Juárez

Rios‐Cabrera

et al. 2015

Robotics and Computer-Integrated Manufacturing

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Section: Knowledge Generalisation Of the Ekbmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

On-line knowledge acquisition and enhancement in robotic assembly tasks

Navarro-Gonzalez

López-Juárez

Rios‐Cabrera

et al. 2015

Robotics and Computer-Integrated Manufacturing

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“…The problem of robotic assembly was considered by many researchers. In particular, the application of high-frequency oscillations (up to 9000 Hz) for directional alignment of cylindrical and prismatic parts with and without chamfers is described in (Baksys & Kilikevicius, 2011), (Baksys, et al, 2017) and (Sadauskas & Baksys, 2013). In contrast to the present paper, the study object is press-fit joints, in which the base part has free location, and the shaft is fixed in a gripper with elastic elements.…”

Section: Introductionmentioning

confidence: 96%

Investigating the Conditions of Automatic Assembly of Polyhedral Joints

Vartanov

Nikolaevna

Leontievna

et al. 2021

Preprint

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Purpose – Providing the technological reliability of the robotic assembly of joints with RK-profile on the basis of adaptation devices and low-frequency oscillations. Design/methodology/approach – Ensuring the assembly conditions is achieved by the vibration device that provides oscillations relative to the two axes, perpendicular to the assembly direction and rotation about the assembly axis. Compensation of the linear error in the position of the parts is attained by an adaptive gripper with a flexible link. Findings – A mathematical model describing the assembly process of parts relative to the non-inertial coordinate system is developed. The technological modes of profile parts assembly are defined. Originality/value – The robotic assembly method of profile joints by the adaptation devices, namely a combination of elastic fixing of the installed profile part and the simultaneous rotation and vibration of the base part to improve the process reliability is developed. Experimental studies confirmed the adequacy of the created mathematical model. The patent for the assembly method of profile joints with a gap is received.

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“…Where: Many researchers considered the problem of robotic assembly. The application of high-frequency oscillations (up to 9000 Hz) for directional alignment of cylindrical and prismatic parts with and without chamfers is described in [8], [9], [10]. In this research, the study object is press-t joints in the base part that have an accessible location and the gripper holds the shaft with elastic elements.…”

Section: Introductionmentioning

confidence: 99%

Investigating the Conditions of Automatic Assembly

Vartanov¹,

Inna²,

Irina³

et al. 2022

Preprint

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The paper's purpose is to provide the technological reliability of the robotic assembly of joints with RK profile based on adaptation devices and low-frequency oscillations. Ensuring the assembly conditions are achieved by the vibration device that provides oscillations relative to the two axes, perpendicular to the assembly direction, and rotation about the assembly axis. An adaptive gripper compensates for the linear error in the position parts with a flexible connection. A mathematical model describing the assembly process of parts relative to the non-inertial coordinate system is developed. The technological modes of profile parts assembly are defined. The robotic assembly method of profile joints by the adaptation devices, namely a combination of elastic fixing of the installed profile part and the simultaneous rotation and vibration of the base part to improve the process reliability, is developed. Experimental studies confirmed the adequacy of the created mathematical model. The patent for the assembly method of profile joints with a gap is received.

show abstract

Alignment of the Parts Using High Frequency Vibrations

Cited by 5 publications

References 5 publications

On-line knowledge acquisition and enhancement in robotic assembly tasks

On-line knowledge acquisition and enhancement in robotic assembly tasks

Investigating the Conditions of Automatic Assembly of Polyhedral Joints

Investigating the Conditions of Automatic Assembly

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