描述矩形孔拆卸的机制以及主动合规中心对提取力的影响
Farzaneh Goli1, Ali Aflakian1, Mo Qu1
1Mechanical Engineering Department, University of Birmingham, Birmingham, UK.
Royal Society open science
|November 28, 2024
概括
通过分析矩形孔插入,改进了用于重制的机器人拆卸. 优化主动合规中心的位置显著减少干扰和提取力,增强自动化系统.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 制造业 工程 制造工程
- 机械工程 机械工程
背景情况:
- 机器人拆卸对于重新制造至关重要,但诸如孔插入等挑战阻碍了自动化.
- 了解接触力学是克服在拆卸过程中的堵塞的关键.
研究的目的:
- 调查和促进机器人拆卸重制,特别是解决矩形孔挑战.
- 在拆卸过程中分析接触状态和干扰现象,以优化机器人操作.
主要方法:
- 在矩形孔拆卸过程中探索26个不同的接触状态.
- 用几何和准静态分析来定义干扰边界条件.
- 评估积极合规中心的位置策略,以尽量减少干扰.
主要成果:
- 在26个接触状态中确定了16个与干扰相关的条件.
- 确定将合规中心定位在钉子的末端可以最大限度地减少阻塞区域和提取力.
- 通过最佳的积极合规中心配置,最大提取力减少了77.1%.
结论:
- 积极合规中心的位置对于防止机器人拆卸中发生干扰至关重要.
- 优化合规中心的位置,可以大大提高降力和自动拆卸效率.
- 结果为改造过程中增强自动化机器人系统提供了洞察力.
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