Design and Analysis of a Robotic End-Effector for Automated Hi-Lok Nut Installation

Jiang, Jiefeng; Xi, Fengfeng; Bi, Yunbo

doi:10.3390/coatings12070904

Cited by 3 publications

(2 citation statements)

References 22 publications

(22 reference statements)

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“…Automatic fastening assembly using a robot undoubtedly is an appropriate solution. Some studies [5][6][7][8][9] applied a commercial 6R industrial robot to integrate the assembly systems for the fastener installation by developing the end-effector, using visual or force-sensing sensors that are mainly used for external assembly operations. Others [10][11][12][13] developed a Cartesian linear robot or SCARA robotic system for the installation of bolts and screws, which are also fit for the external fastening occasion.…”

Section: Introductionmentioning

confidence: 99%

Kinematic Modeling and Simulation of a New Robot for Wingbox Internal Fastening Application

Jiang

You

2023

Machines

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At present, the fastener installation in a wingbox facing a narrow space must be performed manually. Using a robot is an appropriate solution for automatic assembly. However, the existing robots cannot meet the internal fastening requirements. A new robot with a prismatic joint and four revolute joints (1P4R) was developed to perform the positioning and operation in the wingbox. A compact arm link was designed, and mechanical frame structures were set up. The control system was also set up for the robot’s motion. Then, the forward kinematic model was carried out with the matrix transformation method, and in the analysis the workspace entirely covered the wingbox. The inverse kinematic model was established using the geometric method, and through calculation and simulation, the inverse kinematic equations were verified and refined.

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Section: Introductionmentioning

confidence: 99%

Kinematic Modeling and Simulation of a New Robot for Wingbox Internal Fastening Application

Jiang

You

2023

Machines

Self Cite

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“…Hi-Lok is a simple two-piece fastener designed to achieve, in a single all-round system, design features that meet many of today's industrial requirements, in particular those applicable to the aerospace and marine sectors [15,16]. An advantage of this fastener is the constant torque on each joined component.…”

Section: Introductionmentioning

confidence: 99%

Strength Analysis of Lap Joints in Aerospace Structural Materials

Kłonica¹,

Chatys²,

Blumbergs³

2022

Adv. Sci. Technol. Res. J.

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This paper is a study on the results of strength tests on single-lap joints used primarily in the aerospace industry, based on a Hi-Lok fastener. Two popular structural materials used in the aerospace industry were considered in this work. The test specimens were fabricated from the EN-AW 2024 T3 aluminium alloy and a carbon composite. It was decided to use the Naftoseal MC780 type C adhesive as a sealant to form the required hermetic, air-tight lap joints. In the definition of the joint type used, the results are presented for the tests of selected 2D and 3D surface roughness parameters, with isometric imaging of the surfaces related to this analysis. Microscopic images acquired at a magnification of x500 illustrate the surface quality. This work concludes with a discussion of the test results and conclusions.

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A Random Sampling-Based Method via Gaussian Process for Motion Planning in Dynamic Environments

Qiao

Han

et al. 2022

Applied Sciences

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Motion planning is widely applied to industrial robots, medical robots, bionic robots, and smart vehicles. Most work environments of robots are not static, which leads to difficulties for robot motion planning. We present a dynamic Gaussian local planner (DGLP) method to solve motion planning problems in dynamic environments. In a dynamic environment, dynamic obstacles sometimes make part of the global path invalid, so the local invalid path needs to be local re-planned online. Compared with the node sampling-based methods building large-scale random trees or roadmaps, the Gaussian random path sampling (GRPS) module integrated in the DGLP directly samples smooth random paths discretized into sparse nodes to improve the local path re-planning efficiency. We also provide the path end orientation constraint (PEOC) method for the local re-planning paths in order to merge them smoothly into the global paths. In the robot experiments, the average planning time of the DGLP is 0.04s, which is at least 92.31% faster than the test methods, and its comprehensive evaluation scores, which consider the consuming time, path quality, and success rate of local re-planning, are at least 44.92% higher than the test methods. The results demonstrate that the proposed DGLP method is able to efficiently provide high-quality local re-planning paths in dynamic environments.

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Design and Analysis of a Robotic End-Effector for Automated Hi-Lok Nut Installation

Cited by 3 publications

References 22 publications

Kinematic Modeling and Simulation of a New Robot for Wingbox Internal Fastening Application

Kinematic Modeling and Simulation of a New Robot for Wingbox Internal Fastening Application

Strength Analysis of Lap Joints in Aerospace Structural Materials

A Random Sampling-Based Method via Gaussian Process for Motion Planning in Dynamic Environments

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