Flexible Automatic Assembly Research Articles

Autonomous Obstacle Avoidance Path Planning for Grasping Manipulator Based on Elite Smoothing Ant Colony Algorithm

Assembly robots have become the core equipment of high-precision flexible automatic assembly systems with a small working range. Among different fields of robot technology, path planning is one of the most important branches. In the present study, an elite smoothing ant colony algorithm (ESACO) is proposed for spatial obstacle avoidance path planning of the grasping manipulator. In this regard, the state transition probability and pheromone update strategies are improved to enhance the search capability of path planning symmetry and the convergence of the algorithm. Then a segmented B-spline curve is presented to eliminate path folding points and generate a smooth path. Finally, a manipulator control system based on the Arduino Uno microcontroller is designed to drive the manipulator according to the planned trajectory. The experimental results show that the performance of the ESACO algorithm in different scenarios has symmetry advantages, and the manipulator can efficiently complete the simulation trajectory with high accuracy. The proposed algorithm provides a feasible scheme for the efficient planning of manipulators in equipment manufacturing workshops.

Research of Flexible Assembly of Miniature Circuit Breakers Based on Robot Trajectory Optimization

This paper is dedicated to achieving flexible automatic assembly of miniature circuit breakers (MCBs) to resolve the high rigidity issue of existing MCB assembly by proposing a flexible automatic assembly process and method with industrial robots. To optimize the working performance of the robot, a time-optimal trajectory planning method of the improved Particle Swarm Optimization (PSO) with a multi-optimization mechanism is proposed. The solution uses a fitness switch function for particle sifting to improve the stability of the acceleration and jerk of the robot motion as well as to increase the computational efficiency. The experimental results show that the proposed method achieves flexible assembly for multi-type MCB parts of varying postures. Compared with other optimization algorithms, the proposed improved PSO is significantly superior in both computational efficiency and optimization accuracy. Compared with the standard PSO, the proposed trajectory planning method shortens the assembly time by 6.9 s and raises the assembly efficiency by 16.7%. The improved PSO is implemented on the experimental assembly platform and achieves smooth and stable operations, which proves the high significance and practicality for MCB fabrication.

Positioning error compensation of a flexible track hybrid robot for aircraft assembly based on response surface methodology and experimental study

With the development of aviation industry, more stringent demands are put forward for the performance and manufacturing level of aircraft. Moreover, the automation and precision of aircraft assembly determine the efficiency and quality of aircraft production. In order to improve the positioning precision of the flexible track hybrid robots which are applied to the flexible automatic assembly of aircraft, a precision compensation method based on response surface methodology was proposed in this paper. Firstly, the global positioning error model, optimized by characteristics of error data, was constructed to predict the positioning errors of the flexible track hybrid robot. Secondly, the predicted errors are utilized to realize the compensation of the target points at drilling workspace on nose and front fuselage assembly areas. Finally, a series of experiments of the flexible track hybrid robot with no-load and drilling scenarios are implemented to validate the proposed precision compensation method. The experiment of a hybrid robot for aircraft assembly shows that the mean value of the absolute positioning precision of the end-effector was promoted from 0.081 mm to 0.025 mm, maximum error reduced from 0.143 mm to 0.039 mm, respectively, which means that the position accuracy of the robot is increased by 69.1% and 72.7% for two experimental conditions.

Research and Application of Flexible Manufacturing Line for Power Battery Module of New Energy Electric Vehicle

At present, due to the lack of national mandatory new energy vehicle power battery pack specifications and standards, so each production enterprise is fighting for itself, the size, connection mode and interface of the power battery pack are not unified, these factors seriously restrict the large-scale production and application of the power battery pack. Aiming at the characteristics of small batch and multi variety in the production process of new energy vehicle power battery pack, in order to realize the automatic assembly of multi variety power battery pack, on the basis of scientific and reasonable production process planning of power battery pack, a flexible automatic assembly and testing production line is developed, It is of great significance for power battery manufacturers to meet the needs of all kinds of customers and improve the level of intelligent manufacturing.

АГРЕГАТУВАННЯ СКЛАДАЛЬНОГО ВИРОБНИЦТВА В ПРИЛАДОБУДУВАННІ

Підвищення ефективності застосування агрегатування в приладобудуванні може бути досягнено виключно при застосуванні прогресивних способів і видів агрегатування на основі наукових основ. Для того слід створити матеріально-технічну базу розробки технологічного обладнання та оснащення на підставі принципу агрегатування з уніфікованих вузлів і модулів, розробити типаж уніфікованих вузлів і типову технологію та обладнання для складання характерних приладів з організацією їх серійного виробництва. Тому спочатку встановлюється потрібна та обґрунтована якість і конкурентоспроможність приладів, а далі розглядається їх забезпечення за рахунок технологічності сучасної конструкції, ефективної технології, обладнання та оснащення.

Using Machine Vision for Flexible Automatic Assembly System

Flexible automatic assembly systems become the useful automation system for high mixed production lines of manufacturing processes. This research was aimed to design the primary prototype of the flexible automatic pick and place assembly system. We integrated the machine vision system with the robotic system to conduct a pick and place process. The product models consisted of a main part and an assembly part. The main parts were transferred to the mechanical system through a conveyor belt. When the main parts were held at the specific location, the images of the main parts were captured. Using the image processing of LabVIEW NI vision software and NI vision builder and image calibration method, we could obtain the shape, and orientation of assemble space in the main part which were used to control selective compliance articulated robot arm (SCARA). The SCARA was used to pick the assembly parts from the storage station and place them into the assembly spaces on the main parts. As the results of the prototyping, we evaluated the coordinate conversion factors from the image calibration and used them to control the movement of the SCARA. We finally obtained the reliable flexible automatic assembly system that could detect and identify the shape, and orientation of the assembly space correctly. The SCARA could also pick the correct assembly parts and place them into the assembly space perfectly.

Manufacture of Flexible Automatic Assembly Platform for Aircraft Component Level

This paper describes the composition and working principle of aircraft parts flexible automatic assembly platform, and gives the detailed analysis and design of flexible automatic assembly platform of mechanical structure and motion adjusting control system. The two types of multi plane assembly shows that automatic assembly platform automatic adjusting is reliable, operation control system and motion mechanism runs stable, this system can meet the various needs of automatic assembly platform of aircraft components, and it realizes the work mode of assembly and products in one to many during the aircraft components Assembly process.

Based on Flexible Automation Fixture of Siding Components of Assembly Craft Planning and Simulation

The research of assembly process design based on flexible automatic assembly process plays a critical role in improving the efficiency of aircraft assembly. it use the characteristics of flexible fixture reconfignrability to simplify assembly unit partition and make a kind of craft ideas apply to different assembly unit. Through wing assembly process research that obtains flexible automatic assembly assembly process can be versatile.

Advance Estimation of Quality and Competitiveness of Products in Flexible Automatic Assembly

The article shows the methods of passing ahead determination of quality and competitiveness products which are started in flexible production. The paper considers influence of various factors of expenses, indexes of quality, cost of exploitation and market price, management and marketing.

Simulation of a generic flexible assembly system

During the early 1980s, the concept of a flexible assembly machine was first suggested by Hounsfield (1983). Following this, a variety of research projects have been conducted in an attempt to develop a flexible assembly system that is functional and economically viable. The most significant contribution has been made by the EURICA EU 321 - FAMOS - INFACT* project. However, despite the developments made during these projects, no industrial based system exists today. This paper presents a simulation model of a novel concept for a multi-station flexible automatic assembly machine, and examines the application of a rule based control strategy for the control of a materials handling system used in such a system. * http://www.3.eureka.be/home/

Standardised flexible automatic assembly – evaluating the Mark IV approach

The Assembly Systems Unit at the Royal Institute of Technology and IVF Stockholm has developed several Flexible Automatic Assembly (FAA) cell solutions over the years (Mark I, Mark II, Mark IIF and Mark III). The industrial reality, however, clearly points out that the basic notions of flexibility must be extended and be enhanced without increasing the complexity. This has led our research team to revise the ideas and solutions available for manual and automatic assembly, resulting in the Hyper Flexible Automatic Assembly (HFAA) project. The paper describes the driving factors behind the needs and objectives for the HFAA project, as well as how it will present a standardised set of assembly process‐oriented system components. The paper also describes the new Mark IV application. This industrial HFAA system is being developed in order to test the concept’s industrial viability. The HFAA concept will allow the user to start from a manual assembly station and gradually add assembly equipment. The basic concepts of stepwise automation, standard assembly machine and sub‐batch principle emanate from our previous research.

MARK III, A New Approach to High-Variant, Medium-Volume Flexible Automatic Assembly Cells

The MARK III FAA (Flexible Automatic Assembly) cell was designed to minimise the risk factors associated with FAA. This FAA cell is stepwise upgradeable and adopts the sub-batch principle and reversed material flow solutions. It allows for the assembly of products with an annual volume normally too low to justify automation. The MARK III FAA cell was implemented with the FACE programming and control system, a PC-based, modular programming and control platform for FAA cells. It enables the management of unpredictable order schemes and leads to very low programming costs.

Industrial Application Studies of a New Standard FAA Machine

The MARK III Flexible Automatic Assembly (FAA) cell, first presented in 1994, was a conceptual breakthrough since it was designed to minimise the inherent risks of such applications. This cell was developed into a standard FAA machine comprising of a general Hardware and software platform. The MARK III FAA cell is stepwise upgradeable and greatly reduces the recurrent costs. MARK III supports stepwise automisation. The MARK III uses FACE, a new programming and control system which greatly reduces the programming costs. The article will analyse three application studies of this standard assembly machine, carried out for major Swedish companies.

The MARK III flexible automatic assembly cell

MARK III is a new concept in flexible automatic assembly (FAA) cells and has technically evolved out of the MARK II concept. The MARK III FAA cell is stepwise upgradeable and enables a major reduction in the cost of feeders and programming. It is a hybrid cell, combining automatic and manual assembly. The cell consists of a railtrack-mounted robot and adopts the sub-batch principle. Developed in order to account for the assembly of a vast range of products and variants, the MARK III allows for near-zero changeover times. By incorporating free-coupled manual assembly stations, the stepwise automation of manual operations is supported. These factors permit the automatic assembly of products with an annual volume normally too low to justify automation. Likewise, MARK III offers excellent opportunities for gradual capacity increase. Furthermore, it can account for unpredictable order schemes. The MARK III FAA cell also adopts a new programming and control system (FACE) which enables a drastic reduction in programming costs. This paper describes the evolution of this FAA cell from research to industrial launch.

Cooperation of Man and Robot Assembly — an Evaluation of an Industrial Flexible Assembly System

In 1986 a totally new concept for flexible automatic assembly cells was launched within the research team “Assembly group”, IVF/KTH, Department of Manufacturing Systems. A prototype, Mark II, was built and tested in the laboratory, and the industrial version, Mark II F, was installed in a company in 1991, where it carried out the automatic assembly of air motors for handheld tools. After five operational years, the system has been evaluated from a technical and human factors point of view. The paper will discuss the whole development process, from the initial conceptual idea spawned by the university research group, to the experiences gathered by management and personnel of the system.

Useroriented Design of Human—Machine Interaction in Flexible Automatic Assembly.

Flexible automatic assembly (FAA) systems are essential for automated manufacturing of customized products. This paper suggests a hybrid solution where human operators work together with industrial robots and automatic assembly stations, thereby increasing the flexibility and reliability of FAA systems. To reach high efficiency of hybrid FAA, a balance between system complexity and operator capability must be reached. In the paper a hybrid, flexible, automatic assembly system is presented, and methods to achieve operator/system balance are described.

Adaptive techniques for the Mark II flexible automatic assembly system : M. Onori, M. Nyström, pp 187–191

Adaptive techniques for the Mark II flexible automatic assembly system : M. Onori, M. Nyström, pp 187–191

Magnetic Levitation Servo for Flexible Assembly Automation

Active magnetic levitation with servo control has the inherent potential to be a friction-free, backlash-free, lubrication-free, and precision multi-degree-of-freedom (DOF) actuator with the capability of multi-axis force sensing. However, magnetic levitation has been conventionally used only for contactless suspension such as magnetic bearings and magnetically levi tated vehicles. This article develops an application of magnetic levitation for actuation and force sensing and calls such a sys tem magnetic levitation servo to distinguish from conventional suspension-only systems. On the other hand, flexible assembly automation is a techni cal and engineering challenge to be accomplished promptly. For this purpose, the authors have developed a Magneti cally end-effector-levitating Instrument for a Skilled-Task- undertaking Expert Robot (MEISTER) by applying magnetic levitation servo. The MEISTER is located between a wrist and an end effec tor in a manipulator to levitate and control the end effector by magnetic forces without any mechanical contact. This friction- free and backlash-free mechanism enables precision control of multi-DOFs and permits the MEISTER to have three versatilely functional properties: (1) programmable compliance: the com pliance and viscous damping of supporting an end effector are magnetically changeable by software; (2) precision multi-DOF actuation: the position and attitude of an end effector can be accurately controlled without friction or backlash by chang ing magnetic forces; and (3) multi-axis force sensing: external forces and moments acting on an end effector can be computed by the MEISTER without any additional sensory equipments from the force equivalent equation. By using these functional properties, the MEISTER can correct a minute misalignment between a couple of mating parts to automate precision inser tion. To investigate the fundamental performance of the MEISTER in experiments, a prototype of a 5-DOF controllable MEISTER is developed. The experiments have shown the following re sults : 1. The MEISTER can be used as an advanced/active Remote Center Compliance (RCC) device. 2. The prototype can quickly position the 5-DOF of a mat ing part with 1-μm resolution. 3. It can measure a five-axis resultant force acting on a part with a resolution of about 0.04N and 0.001 N m. 4. It can successfully perform the RCC assembly method, the ideal RCC method, and the float method in precision insertion operations with the clearance ratio of 0.0004 (where a workpiece has a 20-mm diameter and the clear ance is 8 μm.)

汎用自動組立システムの開発

汎用自動組立システムの開発

Multi‐sensor system for flexible assembly

A new approach to programming and operating multi‐sensor systems in flexible assembly automation has been developed. The concepts and strategies are described together with its application to a depalletising task.