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Collaboration of KUKA robots on adjusting assembly of motion mechanism

Wang, Lei, Ji, Ze ORCID: and Setchi, Rossi ORCID: 2022. Collaboration of KUKA robots on adjusting assembly of motion mechanism. Presented at: Eighth Asia International Symposium on Mechatronics (AISM 2021), 16-19 December 2021. Published in: Duan, Baoyan, Umeda, Kazunori and Kim, Chang-wan eds. Proceedings of the Eighth Asia International Symposium on Mechatronics. Lecture Notes in Electrical Engineering , vol.885 10.1007/978-981-19-1309-9_100

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It is a complex problem to adjust the motion mechanism of the coordinator. Manual operation will bring the problems of quality consistency and reliability. In this paper, automatic method is adopted to solve the principle problem of force adjustment in the assembly process of motion mechanism with the cooperation of two KUKA lbr-iwa robots. Firstly, the solution frame is given. To realize the recursive cycle an experiment has been carried out to establish the relationship between the friction force and torque of each eccentric shaft. Then, the deviation between the measured results and the target pulling force is deduced, and the target torque of each eccentric axis of the motion mechanism is obtained, which is fed back to another robot to perform the adjustment operation. At the same time, recursive method is used to deduce a general formula for the adjustment of the position of the end of the robot under the condition of different rotating center between the gripper and the eccentric shaft, so as to ensure that the slot of the eccentric shaft end does not interfere with the gripper in each cycle. Otherwise, two other key technologies, filtering of actual torque and pulling force processing, are also solved. Finally, the cooperative control method of robots has been verified by experiments, and provide new cases and new ideas for the application of automation of adjusting assembly method.

Item Type: Conference or Workshop Item (Paper)
Date Type: Published Online
Status: In Press
Schools: Engineering
Last Modified: 06 Jul 2023 10:12

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