Abstract
At present, robotization of assembly processes is achieved through the use of industrial robots with high positioning accuracy in conjunction with tactile means of adaptation to the conditions of assembly of precision parts. The cost of such robots is many times higher than the cost of simple robots with low positioning accuracy of the robot arm. The research in this article is aimed at reducing the cost of assembly processes for precision parts by applying the position correction of the connected parts not by the robot hand, but by an additional technological module that is installed on the manipulator of a simple robot and performs high-speed stochastic mismatch scan of assembly objects. The article presents the results of a full factorial experiment of the process of joining precision cylindrical parts with a gap of no more than 3...5 microns. A regression model of this process is proposed, a formula for calculating the quasi-optimal modes of precision assembly and graphanalytical dependences of the assembly time on the scanning modes of the misalignment of assembly objects are given. The proposed high-speed method for compensating for the positioning error of an industrial robot makes it possible to assemble precision parts in a very short time within 1...3(s). The main economic effect of the research results is that the device for scanning the misalignment of assembly objects, which is installed on the arm of an inexpensive robot with a low positioning accuracy, can significantly increase the assembly speed and reduce capital investments in robotic assembly of high-precision parts.
Highlights
Theoretical and experimental research in the field of automation of assembly processes has been carried out for a long time, starting from the 90s of the twentieth century and continues till the present
In contrast to the robotic assembly methods that were described in Section 2, the proposed method and device make it possible to automate the assembly of precision joints based on simple and inexpensive industrial robots, i.e. robots that have low positioning accuracy
The executed experimental studies confirm the feasibility of usage of the developed assembly device for industrial robots with a low positioning accuracy of the robot arm
Summary
Theoretical and experimental research in the field of automation of assembly processes has been carried out for a long time, starting from the 90s of the twentieth century and continues till the present This is due to the difficulty of reaching a compromise between the solution of the problem of guaranteed connection of precision parts, on the one hand, and the use of automatic equipment with low cost, on the other hand. Even the use of an industrial robot with a high repeatability of movements up to ± 20 μm does not guarantee 100% assembly of precision parts with a gap in the joint of no more than 3...5 μm, but requires correction of the attached precise parts by appropriate programming In this case, the movement of the robot arm position correction must occur at a relatively low speed in order
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