一种创新装置，用于扩大螺纹任务的允许偏差

IF 1 4区工程技术 Q4 ENGINEERING, MECHANICAL

Mechanical Sciences Pub Date : 2022-08-08 DOI:10.5194/ms-13-701-2022

Hao Ku, Yu-Hsun Chen

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引用次数: 0

摘要

摘要为了确保螺纹作业的可重复性，机器人必须定期校准。如果机械手的允许位置误差增加，则可以降低停止生产线和校准机械手的频率；因此也可以降低成本。本文提出了一种创新的扩大允许偏差（DEAM）的装置，该装置由五个机构组成，即检测、触发、定位、销和止动器以及螺纹机构。通过围绕目标螺纹孔进行扫描，螺钉可以精确地定位在探针检测到孔的位置。通过计算机辅助仿真进行运动和受力分析并进行验证，分析连杆公差的灵敏度，以确保机构的输出位置误差不影响装置的功能。最后，通过原型测试验证了该创新装置的性能，M6螺钉的允许偏差增加了约6倍。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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An innovative device for enlarging the allowable misalignment for screwing tasks

Abstract. To ensure the repeatability in a screwing task, the robot manipulators have to be calibrated regularly. If the allowable position error of the manipulator is increased, then the frequency of stopping a production line and calibrating the manipulators can be lower; therefore, the cost can be also decreased. This paper presents an innovative device for enlarging the allowable misalignment (DEAM) with five mechanisms, namely detecting, trigger, positioning, pin-and-stopper, and screwing mechanisms. By scanning around the target threaded hole, the screw can be precisely positioned at the location where the hole is detected by the probe. The motion and force analysis are carried out and verified through computer-aided simulation, and the sensitivity of the linkage tolerance is analyzed to ensure that the output position error of the mechanism does not affect the function of the device. Finally, the performance of the innovative device is verified by prototype testing, and the allowable misalignment is enlarged by about 6 times for an M6 screw.

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来源期刊

Mechanical Sciences ENGINEERING, MECHANICAL-

CiteScore

2.20

自引率

7.10%

发文量

审稿时长

29 weeks

期刊介绍： The journal Mechanical Sciences (MS) is an international forum for the dissemination of original contributions in the field of theoretical and applied mechanics. Its main ambition is to provide a platform for young researchers to build up a portfolio of high-quality peer-reviewed journal articles. To this end we employ an open-access publication model with moderate page charges, aiming for fast publication and great citation opportunities. A large board of reputable editors makes this possible. The journal will also publish special issues dealing with the current state of the art and future research directions in mechanical sciences. While in-depth research articles are preferred, review articles and short communications will also be considered. We intend and believe to provide a means of publication which complements established journals in the field.