Serial–parallel cooperative assembly approach for precision micro-assembly of axial holes
<p>The assembly of high-density axial holes represents a crucial step in integrating highly sophisticated components for electronic equipment. This process faces two primary challenges: stringent precision requirements and the need for robust control during delicate adjustments. Given the mini...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2024-12-01
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| Series: | Mechanical Sciences |
| Online Access: | https://ms.copernicus.org/articles/15/653/2024/ms-15-653-2024.pdf |
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| Summary: | <p>The assembly of high-density axial holes represents a crucial step in integrating highly sophisticated components for electronic equipment. This process faces two primary challenges: stringent precision requirements and the need for robust control during delicate adjustments. Given the miniaturization of components, manual assembly becomes inefficient. To address these challenges, this study introduces a novel dual-robot assembly system. The system incorporates a serial robot for force-controlled compliant assembly of precision axial holes, leveraging joint force sensors for direct force-feedback control to ensure enhanced positional accuracy. Additionally, a parallel robot facilitates precise positional adjustments, with its positioning accuracy further refined through kinematic calibration techniques validated through rigorous simulations. Ultimately, the established dual-robot assembly experimental platform successfully demonstrated the precision assembly of high-density axial holes, offering robust technical support for the precise integration of highly integrated components in electronic equipment.</p> |
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| ISSN: | 2191-9151 2191-916X |