Mathematical model of robotic assembly by means of adaptation and low-frequency vibration

The purpose of this paper is to define the conditions for a failsafe coupling of parts when using adaptation and low-frequency vibrations. A model enables us to determine the reaction at the contact points of parts and time-based contact conditions changes. Therefore, the conditions of jamming parts can be defined in the process of conjugation.

A mathematical model describing the trajectory of the part mass center in robotic assembly is created. An experimental equipment is also presented in the paper. Convergence of theoretical and experimental results that characterize the reliability of processes is estimated.

The mathematical model of the connection process dynamics is found in the form of Lagrange’s equations of the second kind.

Applying low-frequency vibration and the adaptive gripper is proposed to extend technological capabilities of robotic assembly.