Robotic Assembly Using Vibrations

Abstract

On the basis of the dynamic model of vibratory alignment the main features of the vibrational assembly process are investigated. The regularities of non−impact alignment, when an immovable part is excited in two perpendicular directions, are defined. It is revealed that during the vibrational alignment the movable part can move from static till dynamic equilibrium position. The distance between these two positions defines allowable error of mutual positioning of the parts subject to the assembly, when the unhindered parts insertion is still possible. On the basis of the dynamic model of vibratory displacement the regularities of a body displacement under controlled dry friction force at a particular time interval is examined. If elastic vibrations are excited, dry friction coefficient decreases and smaller friction force acts against the body displacement. Stoppage of these vibrations causes a steep increase of friction coefficient. When the body moves from static to dynamic equilibrium position on the inclined plane the vibratory displacement is governed by the transient regimes of motion. Assembly robots equipped with passive compliance vibratory end-effectors allow one to compensate considerably bigger deviations in part’s interposition without using sensors and feedback systems. Therefore usage of vibratory devices with passive compliance allows one to significantly reduce the expenses of robotic assembly.