Experimental Research of the Robotic Assembly Process Using the Effect of Rotation and Low-Frequency Vibration

The main stage of automated assembly is the process of parts mating. At this stage, there are problems related to the probability of jamming the parts. The process of parts mating depends on many factors, which are concerned with the assembly methods. The article deals with the assembly method using rotational movement effect in combination with the vibration effect. A parameter design of experiment was carried out to find the mathematical model, describing the forces acting on the assembly parts in dependence with the given factors. Description of the experimental equipment using the ABB IRB140 industrial robot equipped with a force/torque sensor is presented. An experimental mathematical model on the assembly process was built.