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Snap-fit Assembly Process with Industrial Robot Including Force Feedback

Published online by Cambridge University Press:  14 May 2019

László Rónai  and
Tamás Szabó
Tamás Szabó
Affiliation:
Robert Bosch Department of Mechatronics, University of Miskolc, Hungary. E-mail: szabo.tamas@uni-miskolc.hu
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Summary

This paper investigates a battery snap-in operation performed by an industrial robot. The snap-fit phenomenon is experienced during the insertion of batteries into the battery holder. In order to understand the nature of the snap-fit phenomenon, the large displacement but small deformation theory is used to model the insertion operation. The stability of equilibrium points is analysed in order to determine the so-called trip point. The purpose of the investigation is to augment the displacement control of the robot with force feedback. A microcontroller-based measurement system is implemented to provide the force feedback. The proposed method is valid for a class of snap-fit problems not only for the investigated specific one.

Keywords

Snap-fitMechanical stabilityForce feedbackRobotAssembly

Information

Type
Articles
Information
Robotica , Volume 38 , Issue 2 , February 2020 , pp. 317 - 336
Copyright
© Cambridge University Press 2019 

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