Monitoring the generic assembly operation for impact from grippingto finished insertion

摘要

This paper discusses how accelerometers and force/torque (F/T)sensors may be used to detect errors during assembly. The mainsurveillance feature is impact-expected and unexpected-registered withthe accelerometers. During the actual insertion an F/T-sensor is used assupport. Also a device for electric contact indication is used. Firstthe generic assembly operation is presented and then the possiblemodeled error states are introduced. Finally, experiments with defectiveworkpieces and positioning errors are presented. The experiments aredone in two dimensions in an authentic assembly work cell. The aim ofthe paper is to show the possibilities of supervision of assemblyoperations by detecting and analyzing impacts