Determination of Changing Friction Coefficient Using Force Torque Sensor During Robotiс Assembly of Cylindrical Connection with Clearance

This article is to studies the problem of changing friction coefficient in the process of connecting cylinder with clearance, and also analytical dependence of friction coefficient on the depth of coupling parts and the values of measured assembly force. An experiment was carried out to determine the friction coefficient on the basis of analysis two-point contact interaction of parts. Equations of the interrelationship between forces and moments measured by a sensor with friction coefficients determining the position of the contact point of parts are obtained. The results of assessing the sensitive of the force and moment sensors in connection with the recognition of the part’s orientation are described. The work aims to increase the technological reliability of the robotic assembly of precision joints on the base of using active adaptation. An IRB-140 robot equipped with a Schunk torque sensor was used as an actuator.