CASIA OpenIR  > 数字内容技术与服务研究中心  > 智能技术与系统工程
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
Conference NameIEEE International Conference on Robotics and Biomimetics
Conference Date2017-12
Conference PlaceMacau SAR,China
AbstractHi-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.
KeywordForce Feedback Robot System Automatic Assembly Hi-lite Bolts
Indexed ByEI
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/15656
Collection数字内容技术与服务研究中心_智能技术与系统工程
Corresponding AuthorWang,Jian
Affiliation1.中国科学院自动化研究所
2.上海飞机制造有限公司
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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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