Dynamic Characteristics Analysis of an Assembly Robot for a Wine Box Base Considering Radial and Axial Clearances in a 3D Revolute Joint
Precisely fitting the bottom sticker of the wine box base to the base model with glue is an important process of the wine box base production line. The influence of joint clearance in the assembly robot on the assembly precision of wine box bases is investigated. We analyze the axial clearance and r...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-02-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/13/4/2211 |
| _version_ | 1827758854810632192 |
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| author | Yuan Wang Ruiqin Li Juan Liu Zengyu Jia Hailong Liang |
| author_facet | Yuan Wang Ruiqin Li Juan Liu Zengyu Jia Hailong Liang |
| author_sort | Yuan Wang |
| collection | DOAJ |
| description | Precisely fitting the bottom sticker of the wine box base to the base model with glue is an important process of the wine box base production line. The influence of joint clearance in the assembly robot on the assembly precision of wine box bases is investigated. We analyze the axial clearance and radial clearance in a 3D revolute joint of the assembly robot and present 12 possible contact forms between bearings and journals, as well as three modes of free flight mode, continuous contact mode, and pseudo penetration mode between them under the different contact forms. The contact force models of normal and tangential force between bearings and journals are established using the Lankarani–Nikravesh contact model and modified Coulomb friction law, respectively. Taking the joint clearance of one joint of the wine box base assembly robot as an example, the dynamic equations of the joint with clearance are established, and the dynamic characteristics of the robot caused by the joint clearance are analyzed. The results show that, the larger the clearance, the more easily the dynamic characteristics of the robot end effector are influenced. |
| first_indexed | 2024-03-11T09:13:27Z |
| format | Article |
| id | doaj.art-cac5ea9c2d154b48b23e9867b83365fe |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-11T09:13:27Z |
| publishDate | 2023-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-cac5ea9c2d154b48b23e9867b83365fe2023-11-16T18:52:29ZengMDPI AGApplied Sciences2076-34172023-02-01134221110.3390/app13042211Dynamic Characteristics Analysis of an Assembly Robot for a Wine Box Base Considering Radial and Axial Clearances in a 3D Revolute JointYuan Wang0Ruiqin Li1Juan Liu2Zengyu Jia3Hailong Liang4School of Mechanical Engineering, North University of China, Taiyuan 030051, ChinaSchool of Mechanical Engineering, North University of China, Taiyuan 030051, ChinaSchool of Mechanical Engineering, North University of China, Taiyuan 030051, ChinaSchool of Mechanical Engineering, North University of China, Taiyuan 030051, ChinaSchool of Mechanical Engineering, North University of China, Taiyuan 030051, ChinaPrecisely fitting the bottom sticker of the wine box base to the base model with glue is an important process of the wine box base production line. The influence of joint clearance in the assembly robot on the assembly precision of wine box bases is investigated. We analyze the axial clearance and radial clearance in a 3D revolute joint of the assembly robot and present 12 possible contact forms between bearings and journals, as well as three modes of free flight mode, continuous contact mode, and pseudo penetration mode between them under the different contact forms. The contact force models of normal and tangential force between bearings and journals are established using the Lankarani–Nikravesh contact model and modified Coulomb friction law, respectively. Taking the joint clearance of one joint of the wine box base assembly robot as an example, the dynamic equations of the joint with clearance are established, and the dynamic characteristics of the robot caused by the joint clearance are analyzed. The results show that, the larger the clearance, the more easily the dynamic characteristics of the robot end effector are influenced.https://www.mdpi.com/2076-3417/13/4/2211joint clearancewine box baserevolute jointcontact modecontact forcedynamics |
| spellingShingle | Yuan Wang Ruiqin Li Juan Liu Zengyu Jia Hailong Liang Dynamic Characteristics Analysis of an Assembly Robot for a Wine Box Base Considering Radial and Axial Clearances in a 3D Revolute Joint Applied Sciences joint clearance wine box base revolute joint contact mode contact force dynamics |
| title | Dynamic Characteristics Analysis of an Assembly Robot for a Wine Box Base Considering Radial and Axial Clearances in a 3D Revolute Joint |
| title_full | Dynamic Characteristics Analysis of an Assembly Robot for a Wine Box Base Considering Radial and Axial Clearances in a 3D Revolute Joint |
| title_fullStr | Dynamic Characteristics Analysis of an Assembly Robot for a Wine Box Base Considering Radial and Axial Clearances in a 3D Revolute Joint |
| title_full_unstemmed | Dynamic Characteristics Analysis of an Assembly Robot for a Wine Box Base Considering Radial and Axial Clearances in a 3D Revolute Joint |
| title_short | Dynamic Characteristics Analysis of an Assembly Robot for a Wine Box Base Considering Radial and Axial Clearances in a 3D Revolute Joint |
| title_sort | dynamic characteristics analysis of an assembly robot for a wine box base considering radial and axial clearances in a 3d revolute joint |
| topic | joint clearance wine box base revolute joint contact mode contact force dynamics |
| url | https://www.mdpi.com/2076-3417/13/4/2211 |
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