A Robotic Hi-Lite Bolts/Collars Assembly System and Control Strategy
Liu, Manxian1; Liang, Xuegang1; Wang, Changfa2; Zou, Cheng2; Huang, Wen2; Wang, Jian1; chen, Yuyuan1; Wang,Jian
2017-12
会议名称IEEE International Conference on Robotics and Biomimetics
会议日期2017-12
会议地点Macau SAR,China
摘要Hi-Lite Bolts are widely used in the mechanical
connection of composites in aircraft assembly. In this paper, we
present a robot system based on an industrial robot, which can
achieve the automatic assembly process of Hi-Lite Bolts to
ameliorate the efficiency and improve the quality, as well as the
intelligence of composite material assembly. A novel end-effector
integrating the six-axis force sensor and direct-drive servo motor
is designed to be installed on the end of robot in this system. In
order to complete the alignment in small error region of bolt and
nut and the twist-off of nut in the assembly process, we analyze
the installation characteristics of the Hi-Lite Bolts and study the
control algorithm based on force feedback to propose a control
strategy for automatic connection of the Hi-Lite Bolts. A series of
experiments are conducted at the end of this paper to
demonstrate that the robot system is efficient and the control
strategy is feasible.
关键词Force Feedback Robot System Automatic Assembly Hi-lite Bolts
收录类别EI
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/15656
专题数字内容技术与服务研究中心_智能技术与系统工程
通讯作者Wang,Jian
作者单位1.中国科学院自动化研究所
2.上海飞机制造有限公司
推荐引用方式
GB/T 7714
Liu, Manxian,Liang, Xuegang,Wang, Changfa,et al. A Robotic Hi-Lite Bolts/Collars Assembly System and Control Strategy[C],2017.
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