Design and experiment of human-robot collaborative intelligent riveting system based on compliant control technology

Huan Sun; Wanjiao Dong; Lihui Wu; Hua Wang

doi:10.1117/12.3038504

5 August 2024 Design and experiment of human-robot collaborative intelligent riveting system based on compliant control technology

Huan Sun, Wanjiao Dong, Lihui Wu, Hua Wang

Author Affiliations +

Proceedings Volume 13226, Third International Conference on Advanced Manufacturing Technology and Manufacturing Systems (ICAMTMS 2024); 1322651 (2024) https://doi.org/10.1117/12.3038504
Event: 3rd International Conference on Advanced Manufacturing Technology and Manufacturing Systems (ICAMTMS 2024), 2024, Changsha, China

Abstract

In order to solve the problem of unstructured environments in the riveting assembly process of aircraft. A human-robot collaborative intelligent riveting system based on compliant control is proposed, which mainly consists of a UR robot, a six-dimensional force sensor, an impact force sensor, a bucking bar, a controller and other components. The experimental time of robot riveting is similar to simulation time, and the quality of human-robot collaborative riveting is obviously higher than that of robot automatic riveting. Through virtual simulation and experiments, this system not only addresses issues such as poor positioning accuracy and poor riveting quality in robotic automated riveting but also tackles concerns related to inconsistent quality and high labor intensity in manual pneumatic riveting. The findings of this study hold significant practical value.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Huan Sun, Wanjiao Dong, Lihui Wu, and Hua Wang "Design and experiment of human-robot collaborative intelligent riveting system based on compliant control technology", Proc. SPIE 13226, Third International Conference on Advanced Manufacturing Technology and Manufacturing Systems (ICAMTMS 2024), 1322651 (5 August 2024); https://doi.org/10.1117/12.3038504

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