Abstract
Reconstruction of the skilled human sensations and design of related control system is important for robust control of the robots. We are developing an unscrewing robot with a comprehensive control system for the automated disassembly of electronic devices. Experiments involve screwing and unscrewing, and since humans typically have a broad range of screwing experiences and sensations throughout their lives, we conducted a series of experiments to find out these haptic patterns. Results show that people apply axial force to the screws to avoid screwdriver slippage (cam-outs), which is one of the key problems during screwing and unscrewing, and this axial force is proportional to the torque which is required for screwing. We have found that type of the screw head influences the amount of axial force applied. Using this knowledge an unscrewing robot for the smart disassembly factory RecyBot is being developed, and experiments confirm the optimality of the strategy used by humans. Finally, a methodology for robust unscrewing algorithm design is presented as a generalization of the findings. It can speed up the development of the screwing and unscrewing robots and tools.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Robotiq FT300 specifications. https://assets.robotiq.com/production/support_documents/document/specsheet-FT300-Nov-08-V3_20171116.pdf?_ga=2.252630985.1712588583.1517308561-1050351704.1509722697
Apley, D.W., Seliger, G., Voit, L., Shi, J.: Diagnostics in disassembly unscrewing operations. Int. J. Flex. Manuf. Syst. 10(2), 111–128 (1998). https://doi.org/10.1023/A:1008089230047
Behring, J.K., Gjerdet, N.R., Mlster, A.: Slippage between screwdriver and bone screw. Clin. Orthop. Relat. Res. 404, 368–372 (2002)
Chen, W.H., Wegener, K., Dietrich, F.: A robot assistant for unscrewing in hybrid human-robot disassembly. In: 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 536–541. IEEE (2014). http://ieeexplore.ieee.org/abstract/document/7090386/
Ham, R., Sugar, T., Vanderborght, B., Hollander, K., Lefeber, D.: Compliant actuator designs. IEEE Rob. Autom. Mag. 16(3), 81–94 (2009). http://ieeexplore.ieee.org/document/5233419/
Kopacek, P., Kopacek, B.: Robotized disassembly of mobile phones. IFAC Proc. Vol. 36(23), 103–105 (2003). http://linkinghub.elsevier.com/retrieve/pii/S1474667017376693
Kopacek, P., Kopacek, B.: Intelligent, flexible disassembly. Int. J. Adv. Manuf. Technol. 30(5–6), 554–560 (2006). https://doi.org/10.1007/s00170-005-0042-9
Majewicz, A., Glasser, J., Bauer, R., Belkoff, S.M., Mears, S.C., Okamura, A.M.: Design of a haptic simulator for osteosynthesis screw insertion. In: Haptics Symposium, 2010 IEEE, pp. 497–500. IEEE (2010)
Rujaevich, C., Lessard, J., Chandler, S., Shannon, S., Dahmus, J., Guzzo, R.: Liam - an innovation story (2016). https://www.apple.com/environment/pdf/Liam_white_paper_Sept2016.pdf. Bibtex: liam_2016
Tsetserukou, D., Sato, K., Tachi, S.: Exointerfaces: novel exosceleton haptic interfaces for virtual reality, augmented sport and rehabilitation. In: Proceedings of the 1st Augmented Human International Conference, AH 2010, pp. 1:1–1:6. ACM, New York, NY, USA (2010). https://doi.org/10.1145/1785455.1785456
Vongbunyong, S., Chen, W.H.: Disassembly Automation. SPLCEM. Springer, Cham (2015). https://doi.org/10.1007/978-3-319-15183-0
Vongbunyong, S., Kara, S., Pagnucco, M.: Basic behaviour control of the vision based cognitive robotic disassembly automation. Assembly Autom. 33(1), 38–56 (2013). https://doi.org/10.1108/01445151311294694
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG, part of Springer Nature
About this paper
Cite this paper
Mironov, D., Altamirano, M., Zabihifar, H., Liviniuk, A., Liviniuk, V., Tsetserukou, D. (2018). Haptics of Screwing and Unscrewing for Its Application in Smart Factories for Disassembly. In: Prattichizzo, D., Shinoda, H., Tan, H., Ruffaldi, E., Frisoli, A. (eds) Haptics: Science, Technology, and Applications. EuroHaptics 2018. Lecture Notes in Computer Science(), vol 10894. Springer, Cham. https://doi.org/10.1007/978-3-319-93399-3_37
Download citation
DOI: https://doi.org/10.1007/978-3-319-93399-3_37
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-93398-6
Online ISBN: 978-3-319-93399-3
eBook Packages: Computer ScienceComputer Science (R0)