Experimental Research of the Robotic Assembly Process of Non-Rigid Cylindrical Parts Based on Positional-Force Control

Real-time intelligent algorithms for managing the assembly process remain key to this development in the technology of robotic assembly. The issue that has not yet widely gained scrutiny in regard to technological research and application is the robotic assembly of cylindrical, nonrigid pieces. The identification data from the force-torque sensor relies on some established mathematical models of the robotic assembly coupling phases. In this paper, a model is proposed that determines the effects of the assembly parameters during the mating step of the robotic assembly process. Process mode for assembling rigid sleeves on non-rigid shafts. For the experiment, the industrial robot IRB-140 was equipped with a Schunk force-torque sensor.