An automotive body is composed of compliant sheet metal parts.Fast and exactly diagnosing variation sources is very important when assembly variations happen.This paper proposes a diagnosis method of multi fixture var...An automotive body is composed of compliant sheet metal parts.Fast and exactly diagnosing variation sources is very important when assembly variations happen.This paper proposes a diagnosis method of multi fixture variations based on the variation model of compliant sheet metal assembly.The assembly variation model is obtained by using the method of influence coefficients(MIC) and considering the manufacturing variations of compliant parts and multi fixture variations.The measurement point variations induced by part manufacturing variations are firstly removed from the measurement data.The variation patterns of multi fixture variations are constructed by column vectors of fixture variation sensitivity matrix.This method is proved to be feasible for exactly diagnosing the fixture variations and has higher diagnosis efficiency than designated component analysis(DCA).展开更多
Based on the manufacturing history chain, a component's macro residual stress is introduced to the subsequent assembly model. In the simulated method, the simulation cost is saved via mapping the bulk stress profi...Based on the manufacturing history chain, a component's macro residual stress is introduced to the subsequent assembly model. In the simulated method, the simulation cost is saved via mapping the bulk stress profile directly to the component compared to our previous study. It thus facilitates the finite element analysis(FEA) which takes the component location in blank and the thickness of blank as two influence parameters. The methodology is proved to be feasible by the validation experiment designed for a typical assembly structure from the aerospace industry. The results show that the bulk stress originating from material preparation affects the downstream large-scale assembly deformation. The investigation of this research helps systematically to improve compliant assembly precision.展开更多
As the demands for assembly quality and efficiency increase,robot-assisted assembly applications are becoming more widespread.Peg-in-hole assembly,as a typical form of assembly,has been widely researched by scholars.C...As the demands for assembly quality and efficiency increase,robot-assisted assembly applications are becoming more widespread.Peg-in-hole assembly,as a typical form of assembly,has been widely researched by scholars.Currently,robotic peg-in-hole assembly faces challenges such as complex analysis of part contact forces,difficulties in task modeling,and the failure of traditional strategies.Simply controlling the position of the robot's end effector cannot achieve high precision,high efficiency peg-in-hole assembly.Flexible assembly,especially intelligent flexible assembly,is becoming the future development trend.So there is a lack of comprehensive reviews on robotic flexible peg-in-hole assembly.This paper first outlines the basic components of peg-in-hole assembly and summarizes the two basic operational processes of peg-in-hole assembly,along with their related theoretical foundations.We then review and analyze the research on passive compliant assembly,active compliant assembly,and intelligent flexible assembly.Finally,it presents an outlook on the future development directions of robotic peg-in-hole assembly.展开更多
基金the National Natural Science Foundation of China (No. 50705056)the National High Technology Research and Development Program (863) of China (No.2006AA04Z148)
文摘An automotive body is composed of compliant sheet metal parts.Fast and exactly diagnosing variation sources is very important when assembly variations happen.This paper proposes a diagnosis method of multi fixture variations based on the variation model of compliant sheet metal assembly.The assembly variation model is obtained by using the method of influence coefficients(MIC) and considering the manufacturing variations of compliant parts and multi fixture variations.The measurement point variations induced by part manufacturing variations are firstly removed from the measurement data.The variation patterns of multi fixture variations are constructed by column vectors of fixture variation sensitivity matrix.This method is proved to be feasible for exactly diagnosing the fixture variations and has higher diagnosis efficiency than designated component analysis(DCA).
基金the National Basic Research Program(973)of China(No.2010CB731703)the National Natural Science Foundation of China(No.51275308)
文摘Based on the manufacturing history chain, a component's macro residual stress is introduced to the subsequent assembly model. In the simulated method, the simulation cost is saved via mapping the bulk stress profile directly to the component compared to our previous study. It thus facilitates the finite element analysis(FEA) which takes the component location in blank and the thickness of blank as two influence parameters. The methodology is proved to be feasible by the validation experiment designed for a typical assembly structure from the aerospace industry. The results show that the bulk stress originating from material preparation affects the downstream large-scale assembly deformation. The investigation of this research helps systematically to improve compliant assembly precision.
基金Supported by National Natural Science Foundation of China(Grant Nos.52475509 and U22A20203)Beijing Municipal Natural Science Foundation(Grant No.L248005)Hebei Provincial Natural Science Foundation(Grant No.E2023105059)。
文摘As the demands for assembly quality and efficiency increase,robot-assisted assembly applications are becoming more widespread.Peg-in-hole assembly,as a typical form of assembly,has been widely researched by scholars.Currently,robotic peg-in-hole assembly faces challenges such as complex analysis of part contact forces,difficulties in task modeling,and the failure of traditional strategies.Simply controlling the position of the robot's end effector cannot achieve high precision,high efficiency peg-in-hole assembly.Flexible assembly,especially intelligent flexible assembly,is becoming the future development trend.So there is a lack of comprehensive reviews on robotic flexible peg-in-hole assembly.This paper first outlines the basic components of peg-in-hole assembly and summarizes the two basic operational processes of peg-in-hole assembly,along with their related theoretical foundations.We then review and analyze the research on passive compliant assembly,active compliant assembly,and intelligent flexible assembly.Finally,it presents an outlook on the future development directions of robotic peg-in-hole assembly.
