Hostname: page-component-8448b6f56d-xtgtn Total loading time: 0 Render date: 2024-04-19T00:06:48.741Z Has data issue: false hasContentIssue false
  • English
  • Français

Snap-fit Assembly Process with Industrial Robot Including Force Feedback

Published online by Cambridge University Press:  14 May 2019

László Rónai  and
Tamás Szabó
Tamás Szabó
Affiliation:
Robert Bosch Department of Mechatronics, University of Miskolc, Hungary. E-mail: szabo.tamas@uni-miskolc.hu
Get access Rights & Permissions [Opens in a new window]

Summary

This paper investigates a battery snap-in operation performed by an industrial robot. The snap-fit phenomenon is experienced during the insertion of batteries into the battery holder. In order to understand the nature of the snap-fit phenomenon, the large displacement but small deformation theory is used to model the insertion operation. The stability of equilibrium points is analysed in order to determine the so-called trip point. The purpose of the investigation is to augment the displacement control of the robot with force feedback. A microcontroller-based measurement system is implemented to provide the force feedback. The proposed method is valid for a class of snap-fit problems not only for the investigated specific one.

Keywords

Snap-fitMechanical stabilityForce feedbackRobotAssembly
Type
Articles
Information
Robotica , Volume 38 , Issue 2 , February 2020 , pp. 317 - 336
Copyright
© Cambridge University Press 2019 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Kshirsagarl, R. M. and Pawar, D. B., “Design and analysis of snap fit joint in plastic part,” Int. J. Innov. Emerg. Res. Eng. 2(1), 83–87 (2015).Google Scholar
Klahn, C., Singer, D. and Meboldt, M., “Design Guidelines for Additive Manufactured Snap-Fit Joints,” In: Procedia CIRP 50, vol. 75 (Elsevier, 2016) pp. 264–269.Google Scholar
Bayer MaterialScience LLC, “Snap-Fit Joints for Plastics – A Design Guide,” (Bayer Polycarbonates Business Unit, Pittsburg, PA, 1998).Google Scholar
Bader, B. and Koch, R., “Numerical simulation (FEM) of snap-in and snap-out processes of ball snap-fits,” Comput. Mater. Sci. 3, 125–134 (1994).CrossRefGoogle Scholar
Pfeiffer, F., “Assembly processes with robotic systems,” Robot. Auton. Syst. 19, 151–166 (1996).CrossRefGoogle Scholar
Srinivasan, M. A.,“What is Haptics. Laboratory for Human and Machine Haptics,” (Laboratory for Human and Machine Haptics: The Touch Lab, MIT, 2005) pp. 1–11.Google Scholar
Homberg, B. S., Katzschmann, R. K., Dogar, M. R. and Rus, D., “Haptic Identification of Objects using a Modular Soft Robotic Gripper,” In: IROS (2015) pp. 1698–1705.Google Scholar
Gohil, V. J., Bhagwat, S. D., Raut, A. P. and Nirmal, P. R., “Robotics arm control using haptic technology,” Int. J. Latest Res. Sci. Technol. 2, 98–102 (2013).Google Scholar
Zhao, J., Jia, J., He, X. and Wang, H., “Post-buckling and snap-through behavior of inclined slender beams,” J. Appl. Mech. 75, 041020-1–041020-7 (2008).CrossRefGoogle Scholar
Riks, E., “An incremental approach to the solution of snapping and buckling problems,” Int. J. Solids Struct. 15(7), 529–551 (1979).CrossRefGoogle Scholar
Crisfield, M. A., Non-Linear Finite Element Analysis of Solids and Structures (John Wiley and Sons, Chichester, UK, 1991).Google Scholar
Vahidi, M., Jafari, V., Abyaneh, M. H. and Vahdani, S. H., “Displacement field approximations for force-based elements in large displacement analyses,” J. Appl. Math. 1–11 (2012).CrossRefGoogle Scholar
Rouche, N., Habets, P. and Laloy, M., Stability Theory by Liapumovs Direct Method (Springer-Verlag, New York, 1977).CrossRefGoogle Scholar
de Souza, R. M., “Force-based finite element for large displacement inelastic analysis of frames,” [Dissertation] (Department of Civil and Environmental Engineering, University of California, Berkeley, 2000).Google Scholar
Bathe, K. J., Finite Element Procedures (Prentice Hall, Upper Saddle River, NJ, 1996).Google Scholar
Andersson, S., Söderberg, A. and Björklund, S., “Friction models for sliding dry, boundary and mixed lubricated contacts,” Tribol. Int. 580–587 (2005).Google Scholar
Spong, M. W., Hutchinson, S. and Vidyasagar, M., Robot Modeling and Control (John Wiley and Sons Inc., USA, 2006).Google Scholar