Research of an Automatic Screw Assembly Process Based on an Industrial Robot Arm
This article aims at widening applications of industrial robot arms,which have been widely used at modern industrial situations includes assembling,welding,gluing and so on1,2,3.We propose a method for automatic screw assembly process based on an ABB industrial arm4,5,which combines necessary tools such as machine vision,Programming Logic Controller,screw feeder and other sensors,with a general control system.Generally,motion generation and control strategy in the context of robotic manipulation tasks were studied by modeling inserting a peg into a hole.The automatic screw assembly process could be realized as an example of the former model through the analysis of contact state and posture adjustment.Fasten torques,which were detected during a fastening process,could be well studied to achieve a reliable fasten effect.
Screw Assembly Process Industrial Robots Automation Peg and Hole Model Fastening Torque
Duan Zhuo Lu Zhibing Cao Chengzhen Jia Na
No.51,Yongding Road,Haidian District,Beijing,China
国际会议
第十七届国际制造会议(The 17th International Manufacturing Conference in China)(IMCC 2017))
深圳
英文
1-4
2017-11-23（万方平台首次上网日期，不代表论文的发表时间）