Modeling and simulation of percussive impact for robotic riveting system

Abstract

Riveting is one of the major joining methods used in assembly, and the robotic riveting has been gradually introduced into aircraft industry. In this paper, a method is presented for modeling and simulation of percussive robotic riveting. In percussive riveting, vibration always exists. When an impact force is employed, a forced vibration will be induced. If it resonates with a robot natural frequency, the vibration will cause damage to the robot. The main content of this paper is divided into three parts. Firstly, a robot dynamic model is established to compute the driving torque for each joint. Secondly, vibration responses under impact are analyzed for the percussive riveting process. Thirdly, the effect of riveting on robot vibration is studied over the robot workspace. The purpose of this paper is to discuss the suitable regions for riveting where the robot vibration is very minimal. It is shown that based on the presented method an appropriate trajectory can be planned for robotic riveting.

Keywords

Robotic dynamics / Analysis / Vibration response / Impact force / Riveting

References

[1] Li YW, Xi FF, Behdinan K. Dynamic modeling and simulation of percussive impact riveting for robotic automation. J Comput Nonlinear Dyn, 2010, 5(2): 021011.

[2] Qu W, Dong H, Ke Y. Pose accuracy compensation technology in robot-aided aircraft assembly drilling process. Acta Aeronautica et Astronautica Sinica, 2011, 32(10): 1951-1960.

[3] Xiao H, Li Y, Zhang KF, et al. Multi-objective optimization method for automatic drilling and riveting sequence planning. Chin J Aeronaut, 2010, 23(6): 734-742.

[4] Bi S, Liang J. Robotic drilling system for titanium structures. Int J Adv Manuf Technol, 2011, 54(5/8): 767-774.

[5] Olsson T, Robertsson A, Johansson R (2007) Flexible force control for accurate low-cost robot drilling. In: 2007 IEEE international conference on robotics and automation, Roma, Italy, 10–14 April 2007

[6] Dhanaraj C, Sharan M. Efficient modeling of rigid link robot dynamic problems with friction. Mech Mach Theory, 1995, 30(5): 749-764.

[7] Zhao Y, Bai Z. Dynamics analysis of space robot manipulator with joint clearance. Acta Astronautica, 2010, 68(7): 1147-1155.

[8] Kalyoncu M. Mathematical modelling and dynamic response of a multi-straight-line path tracing flexible robot manipulator with rotating-prismatic joint. Appl Math Model, 2007, 32(6): 1087-1098.

[9] Shi ZX, Fung Eric HK, Li YC. Dynamic modelling of a rigid-flexible manipulator for constrained motion task control. Appl Math Model, 1999, 23(7): 509-525.

[10] Knani J. Dynamic modeling of flexible robotic mechanisms and adaptive robust control of trajectory computer simulation. Appl Math Model, 2002, 26(12): 1113-1124.

[11] Zhang C, Yu Y. Dynamic modeling of robot arm with joint flexibility and link flexibility manipulating a constrained object. Chin J Mech Eng, 2003, 39(6): 9-12.

[12] Lee CSG, Lee BH, Nigam R (1982) An efficient formulation of robot arm dynamics for control analysis and manipulator design. Technical Reports of Robotics and Integrated Manufacturing, University of Michigan, Ann Arbor, Michigan

[13] Boscariol P, Gasparetto A. Model-based trajectory planning for flexible-link mechanisms with bounded jerk. Robot Comput Integr Manuf, 2013, 8(29): 90-99.

[14] Yin HB, Kobayashi Y, Hoshino Y, et al. Modeling and vibration analysis of flexible robotic arm under fast motion in consideration of nonlinearity. J Syst Des Dyn, 2011, 5(5): 909-924.

[15] Xie X, Huang J, Liang Z. Vibration reduction for flexible systems by command smoothing. Mech Syst Signal Process, 2013, 8(39): 461-470.

[16] Wang Y, Huang QB, Zhou MG, et al. Vibration response analysis of 2-DOF locally nonlinear systems based on the theory of modal super position. J Chongqing Univ (English Edition), 2006, 5(3): 125-130.