Adaptive assembly module for industrial robot: Design and simulation

Abstract

In modern production, automation of assembly processes is achieved by using industrial robots with high positioning accuracy, as well as with elements of tactile adaptation and expensive software. The article proposes an alternative approach to solving the problem of reducing the cost of assembly processes. This approach consists of using production tooling in the form of a soft adaptive assembly module that is mounted on the robot arm. The proposed assembly module allows not only for compensating for errors in the relative orientation of assembly objects, but also excludes the possibility of damage to fragile assembly components or for assembly objects with a thin protective coating of a chemical or galvanic nature. This effect is achieved due to the use of elastic corrugated chambers in the module structure, which, when compressed air is supplied to them, correct the position of one of the assembly objects. The article offers a description of the new design of the assembly module, as well as offers analytical dependencies for calculating the design parameters of the module. The results of modeling the parameters of the assembly module are presented. The main economic effect is to reduce the cost of technological equipment for industrial robots while maintaining the ability to adapt to the conditions of the assembly process.

Keywords

• robotic assembly
• assembly adaptation
• soft gripper
• precision connections