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Design of a robot system for reorienting and assembling irregular parts | |
Su, Jianhua1,4![]() ![]() | |
发表期刊 | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
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ISSN | 1729-8814 |
2024 | |
卷号 | 21期号:1页码:12 |
摘要 | The design of a robot system for assembling numerous parts, including screws, washers, nuts, and other irregular parts, is important in manufacturing. Although a robot can flexibly manipulate various parts with the aid of vision and force sensors, some challenges remain, for example, precise orientation and precise insertion when uncertainty exists in the positioning and manipulation of irregular objects. In this work, we present a method to design the orienting strategy for positioning the irregular parts based on the constraints formed by the fixture, thus the irregular parts such as the motor can be precisely localized only with the robot squeezing actions. We then develop a peg-in-hole insertion strategy using the force constraints formed by the environment, where fewer robot actions are required to insert the peg, thus enabling efficient and precise peg-in-hole insertions. Finally, we developed a robot assembly system with three robots from Universal Robots to perform all the assembly tasks, including picking, holding, placing, and inserting. Experiments on the assembly of a belt drive unit reveal the efficiency of the proposed method. |
关键词 | Assembly object reorientation force control |
DOI | 10.1177/17298806241229271 |
收录类别 | SCI |
语种 | 英语 |
资助项目 | NSFC[62273343] ; Beijing Natural Science Foundation[L201019] ; Key Laboratory of Spaceflight Dynamics Technology Foundation[KGJ6142210210311] |
项目资助者 | NSFC ; Beijing Natural Science Foundation ; Key Laboratory of Spaceflight Dynamics Technology Foundation |
WOS研究方向 | Robotics |
WOS类目 | Robotics |
WOS记录号 | WOS:001178775500002 |
出版者 | SAGE PUBLICATIONS INC |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 实体人工智能系统决策-控制 |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/56985 |
专题 | 多模态人工智能系统全国重点实验室_机器人理论与应用 |
通讯作者 | Su, Jianhua |
作者单位 | 1.Chinese Acad Sci, Inst Automat, Natl Key Lab Multimodal Artificial Intelligence Sy, Beijing, Peoples R China 2.Univ Chinese Acad Sci, Beijing, Peoples R China 3.Jiangxi Univ Sci & Technol Ganzhou, Ganzhou, Peoples R China 4.Chinese Acad Sci, Inst Automat, Natl Key Lab Multimodal Artificial Intelligence Sy, Beijing 100080, Peoples R China |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Su, Jianhua,Shen, Liancheng,Peng, Zongyu,et al. Design of a robot system for reorienting and assembling irregular parts[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2024,21(1):12. |
APA | Su, Jianhua,Shen, Liancheng,Peng, Zongyu,&Qu, Xiaoyi.(2024).Design of a robot system for reorienting and assembling irregular parts.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,21(1),12. |
MLA | Su, Jianhua,et al."Design of a robot system for reorienting and assembling irregular parts".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 21.1(2024):12. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
su-et-al-2024-design(1707KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 |
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