To read this content please select one of the options below:

An on-line compensation method of a metrology-integrated robot system for high-precision assembly

Yifan Jiang (Nanjing University of Aeronautics and Astronautics, Nanjing, China)
Xiang Huang (Nanjing University of Aeronautics and Astronautics, Nanjing, China)
Shuanggao Li (Nanjing University of Aeronautics and Astronautics, Nanjing, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 17 October 2016

567

Abstract

Purpose

The purpose of this paper is to propose an on-line iterative compensation method combining with a feed-forward compensation method to enhance the assembly accuracy of a metrology-integrated robot system (MIRS).

Design/methodology/approach

By the integration of a six degrees of freedom (6DoF) measurement system (T-Mac), the robot’ movement can be tracked with real-time measurement. With the on-line measured data, the proposed iterative compensation for absolute positioning and the feed-forward compensation for relative linear motion are integrated into the assembly process to improve the assembly accuracy.

Findings

It is found that the MIRS exhibits good performance in both accuracy and efficiency with the application of the proposed compensation method. With the proposed assembly process, a component can be automatically aligned to the target in seconds, and the assembly error can be decreased to 0.021 mm for position and 0.008° for orientation on average.

Originality/value

This paper presents a 6DoF MIRS for high-precision assembly. Based on the system, a novel on-line compensation method is proposed to enhance the assembly accuracy. In this paper, the assembly accuracy and the corresponding distance parameter are given by a series of experiments as reference for assembly applications.

Keywords

Acknowledgements

The project was funded by “National Natural Science Foundation of China (No: 51275234)”.

Citation

Jiang, Y., Huang, X. and Li, S. (2016), "An on-line compensation method of a metrology-integrated robot system for high-precision assembly", Industrial Robot, Vol. 43 No. 6, pp. 647-656. https://doi.org/10.1108/IR-03-2016-0091

Publisher

:

Emerald Group Publishing Limited

Copyright © 2016, Emerald Group Publishing Limited

Related articles