Detail publikace

Robotic Snap-fit Assembly with Success Identification Based on Force Feedback

RADIL, F. ADÁMEK, R. DOBOSSY, B. KREJČÍ, P.

Anglický název

Robotic Snap-fit Assembly with Success Identification Based on Force Feedback

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

en

Originální abstrakt

Snap-fit assembly is a standard method in manufacturing to join mainly plastic parts together without any additional processing. However, most of these assemblies are carried out by human workers as they are able to recognize whether the operation is executed correctly. This work aims to improve a robotic snap-fit assembly and replace humans in the process. It is achieved by force measuring using the sensor at the end of the robotic arm. For the purpose of the work, the custom made snap joint was designed in various variants. A set of features was established to enable the classification of obtained signals. The features were tested on a created dataset consisting of measured signals of the four primary cases that may occur during the assembly. This solution provides a possible expansion to create a framework with a selected classification algorithm for the autonomous classification of measured signals.

Anglický abstrakt

Snap-fit assembly is a standard method in manufacturing to join mainly plastic parts together without any additional processing. However, most of these assemblies are carried out by human workers as they are able to recognize whether the operation is executed correctly. This work aims to improve a robotic snap-fit assembly and replace humans in the process. It is achieved by force measuring using the sensor at the end of the robotic arm. For the purpose of the work, the custom made snap joint was designed in various variants. A set of features was established to enable the classification of obtained signals. The features were tested on a created dataset consisting of measured signals of the four primary cases that may occur during the assembly. This solution provides a possible expansion to create a framework with a selected classification algorithm for the autonomous classification of measured signals.

Klíčová slova anglicky

Snap-fit assembly; Industrial robot; Force feedback; Classification

Vydáno

05.05.2022

Nakladatel

SPRINGER INTERNATIONAL PUBLISHING AG

Místo

Virtual, Online

ISBN

978-3-030-98260-7

ISSN

1611-3349

Kniha

Modelling and Simulation for Autonomous Systems

Ročník

13207

Strany od–do

145–157

Počet stran

13

BIBTEX


@inproceedings{BUT177828,
  author="Filip {Radil} and Roman {Adámek} and Barnabás {Dobossy} and Petr {Krejčí},
  title="Robotic Snap-fit Assembly with Success Identification Based on Force Feedback",
  booktitle="Modelling and Simulation for Autonomous Systems",
  year="2022",
  volume="13207",
  month="May",
  pages="145--157",
  publisher="SPRINGER INTERNATIONAL PUBLISHING AG",
  address="Virtual, Online",
  isbn="978-3-030-98260-7",
  issn="1611-3349"
}