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Related Experiment Video

Updated: Jan 14, 2026

Simulation of a Scaled Assembly Process with Collaboration of a Robotic Arm and Monitoring through a Vision System for Quality Control

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Published on: August 29, 2025

A quickly compliant assembly method for annular parts based on adaptive insertion speed.

Wenmin Chu^1,2, Kuai Zhou^3,4, Tengzhou Xu^3,4

¹School of Aeronautical Engineering, Nanjing University of Industry Technology, No.1, North Yangshan Road, Qixia District, Nanjing, 210023, China. chuwenmin@live.com.

Scientific Reports

|October 23, 2025

Summary

This study introduces a compliant assembly method for helicopter annular parts using adaptive insertion speed to minimize heat conduction and deformation. The novel approach significantly reduces assembly contact force and insertion time, improving manufacturing efficiency.

Keywords:

Assembly of annular parts Compliant assembly Contact force perception Force sensor

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Area of Science:

Manufacturing Engineering
Robotics
Materials Science

Background:

Differential temperature assembly of helicopter annular parts causes heat conduction and component deformation.
Reducing heat conduction time is critical for efficient assembly of large helicopter components.

Purpose of the Study:

To propose and validate a quickly compliant assembly method for annular parts based on adaptive insertion speed.
To minimize heat conduction and deformation during the assembly of helicopter components.

Main Methods:

Developed an assembly contact force perception method using kinematic models and distributed three-dimensional force sensors (TDFSs).
Constructed an impedance control model for a redundant drive parallel mechanism, analyzing insertion speed effects via Simulink simulations.
Implemented a fuzzy adaptive impedance control system for dynamic adjustment of annular part insertion speed.

Main Results:

Experimental results demonstrate that adaptive insertion speed significantly reduces assembly contact force.
The proposed method effectively decreases the overall insertion time during compliant assembly.
Validated the effectiveness of the fuzzy adaptive impedance control system in laboratory experiments.

Conclusions:

The adaptive insertion speed strategy is effective in mitigating heat conduction issues during annular part assembly.
This compliant assembly approach enhances precision and efficiency in manufacturing large helicopter components.
The developed method offers a viable solution for reducing deformation and assembly time in critical aerospace manufacturing processes.