Robotic Force Control Assembly Parameter Optimization for Adaptive Production
This paper presents a study on the Design Of Experiments (DOE)-based parameter optimization technique to adapt to the manufacturing environment changes in robotic force control assembly. Based on a real-world transmission torque converter assembly production process, investigation and analysis are performed in production. An on-pendant robotic assembly parameter optimization tool is introduced. When manufacturing environment changes such as the changes of geometrical dimension of part and tool (the location of feature on part, the size of the feature, the dimension of the tool, etc.), the changes of position and orientation of part, fixture or robot; the changes of properties of part (weight, spring constant, etc.), the performance metrics such as mean of the cycle time, mean plus 3 sigma of the cycle time, first time through (FTT) rate are degraded. The on-pendant optimization tool applies full factorial experiments on the most influential parameters. Then the results are subjected to statistical analysis to find the optimal parameter set. Finally verifying the optimized parameter set through running a number of experiments and checking on performance of the force control assembly to adapt the changes. The efficiency of proposed method is proved in the Ford Powertrain assembly production. The program continues running in production and adjusting the process parameters to adapt the manufacturing variations. The real factory acceptance testing results are presented and analyzed. Finally, conclusions are drawn and discussion and further investigation is proposed.
Biao Zhang Dave Gravel George Zhang Jianjun Wang Arnold Bell
Corporate Research Center of ABB Inc.,Windsor,CT 06095,US Advanced Manufacturing Technology Development,Ford Motor Company,Livonia,MI US Powertrain Automation Department in Robotics Division in ABB Engineering,Shanghai,China ABB Robotics,Auburn Hills,MI US
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
464-469
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）