Paper Info
Title
Cooperating Robots For Fixtureless Assembly: Modelling And Simulation Of Tool Exchange Process
Abstract
This paper discusses the concept of cooperation between industrial robots for fixtureless assembly. The tool exchange from robot to robot and without the use of tool repositories or other hardware equipment is the main task to be achieved. The paper focuses on implementing a method for the calculation of the contact forces and torques, which are developed at the robot's flanges, during the tool exchange process, aiming at their compensation and control. The use of two reference flanges, one with pegs and a second one with holes, on the cooperating robots is required for the tool exchange processes to ensure the required alignment between the components. In this direction, for the calculation of the developed contact forces and torques, a three-dimensional triple pegs-in-holes model is introduced and analysed. This research presents a concept for enabling exchangeable end effectors without using external sensors to control the developed interaction forces. The modelling base for such an implementation using virtual models has been developed, and its effective application is expected to allow innovative production concepts such as fixtureless assembly.
Year
DOI
Venue
2018
10.1080/0951192X.2018.1512011
INTERNATIONAL JOURNAL OF COMPUTER INTEGRATED MANUFACTURING
Keywords
Field
DocType
Contact forces, simulation, robotic, exchangeable tooling
Systems engineering,Assembly modelling,Contact force,Manufacturing engineering,Engineering,Robot
Journal
Volume
Issue
ISSN
31
12
0951-192X
Citations 
PageRank 
References 
0
0.34
9
Authors
3
Name
Order
Citations
PageRank
P. Aivaliotis121.40
G. Michalos2645.48
S. Makris314812.90