Modeling and analysis of robotic wheel loading process in trim‐and‐final assembly

Author:

Chen Heping,Wang Jianjun,Zhang Biao,Fuhlbrigge Thomas

Abstract

PurposeMoving production lines are widely used in many manufacturing factories, such as automotive and general industries. However, industrial robots are hardly used to perform any tasks on the moving production lines. One of the main reasons is that it is difficult for conventional industrial robots to adjust to any sort of change. Therefore, the authors developed an industrial robotic system to track the random motion of the moving production lines while performing assembly processes. Before setting up a physical system to measure the system performance, it is desirable to develop a method to analyze the system performance. The purpose of this paper is to develop a performance analysis method for a robotic assembly system on a moving production line.Design/methodology/approachThe developed system is based on the synergic combination of visual servoing and force control technology. Since it is difficult to model the system accurately, a second‐order system is used to approximate it. The system performance for force control and visual servoing is then analyzed. The tracking errors are calculated and compared with experimental results.FindingsThe developed method is evaluated using an experimental system and simulation. The simulation results are quite close to the experimental results. Hence, the developed method can be used to estimate the system performance.Research limitations/implicationsSince only one system is set up to validate the developed method, more testing is needed to generalize it.Practical implicationsThe developed technology is validated using the experimental results and the results are promising. Even though there is a limitation, the developed method can be used to estimate the system performance before setting up a physical system.Originality/valueThis paper provides a system performance analysis method for a robotic assembly on a moving production line. It is important to estimate the system performance before setting up a physical system because it will save a lot of time and resources in the manufacturing floor.

Publisher

Emerald

Subject

Industrial and Manufacturing Engineering,Computer Science Applications,Control and Systems Engineering

Reference10 articles.

1. Baeten, J. and Schutter, J.D. (2002), “Hybrid vision/force control at corners in planar robotic‐contour following”, IEEE/ASME Transactions on Mechatronics, Vol. 7 No. 2, pp. 143‐51.

2. Baeten, J., Bruyninckx, H. and Schutter, J.D. (2002), “Tool/camera configurations for eye‐in‐hand hybrid vision/force control”, IEEE International Conference on Robotics and Automation, Washington, DC, May, pp. 1704‐9.

3. Chang, W. and Wu, C. (2002), “Integrated vision and force control of a 3‐DOF planar surface”, IEEE International Conference on Control Applications, Glasgow, Scotland, September, pp. 748‐53.

4. Chen, H., Zhang, G., Eakins, W. and Fuhlbrigge, T. (2009), “Assembly on moving production line based on sensor fusion”, Assembly Automation, Vol. 29 No. 3, pp. 257‐62.

5. Cho, C., Kang, S., Kim, M. and Song, J. (2005), “Macro‐micro manipulation with visual tracking and its application to wheel assembly”, The International Journal of Control, Automation, and Systems, Vol. 3 No. 3, pp. 461‐8.

Cited by 4 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3