Top

The International Journal of Advanced Manufacturing Technology

Published in:

29-02-2024 | ORIGINAL ARTICLE

Robot motion planning and control for thread hole cleaning tasks

Authors: Hongtai Cheng, Kai Wang, Xiong Cheng

Published in: The International Journal of Advanced Manufacturing Technology | Issue 9-10/2024

Activate our intelligent search to find suitable subject content or patents.

search-config

AI-assisted search

Off

Abstract

Painting is a necessary process for metal surface protection. However, the painting material may accumulate in the thread holes and cause difficulties for future bolt installation. Cleaning the extra paint is necessary for the following assembly task. For industrial robots, cleaning such paint in internally threaded holes is not a trivial task. It requires overcoming challenges related to the accuracy of hole positioning and deviations in the orientation of the threaded holes during the cleaning process, otherwise, the tools may be jammed or the threads may be damaged. This paper aims to analyze the position and force constraints in this process and explore the method to enable robotic automatic thread cleaning. The whole cleaning task is divided into 5 processes: approaching, hole searching, posture tuning, thread cleaning, and retraction. Two spiral search methods are proposed to compensate for the translational and rotational error between the tab and the threaded hole; a force control is introduced to synchronize the rotation and feeding motion; a switched hybrid force/positional controller is proposed to accomplish the cleaning task, which ensures the motion accuracy and compliance. The proposed method has been implemented on an experimental platform, and the results verify the effectiveness of the proposed threaded hole cleaning method.

previous article Research on the precision machining of CVD rotary dressers based on graded grinding and real-time profile planning path of grinding wheel

next article Research on the ultrasonic vibration-assisted short electric arc milling process of Inconel 718

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

über 102.000 Bücher
über 537 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Finance + Banking
Management + Führung
Marketing + Vertrieb
Maschinenbau + Werkstoffe
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 390 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Maschinenbau + Werkstoffe

Jetzt Wissensvorsprung sichern!

inform now

Azhari A, Sulaiman S, Prasada Rao AK (2016) A review on the application of peening processes for surface treatment. In: IOP conference series: materials science and engineering, vol 114. IOP Publishing, p 012002. https://doi.org/10.1088/1757-899X/114/1/012002

Elsner CI, Cavalcanti E, Ferraz O, Di Sarli AR (2003) Evaluation of the surface treatment effect on the anticorrosive performance of paint systems on steel. Prog Org Coat 48(1):50–62. https://doi.org/10.1016/S0300-9440(03)00112-7CrossRef

Chen J, Zhang T (2021) Study on energy saving robot used for screw hole cleaning of reactor vessel in nuclear power plant. In: IOP conference series: earth and environmental science, vol 804. IOP Publishing, p 032045. https://doi.org/10.1088/1755-1315/804/3/032045

Pereira IC, da Silva MB (2017) Study of the internal thread process with cut and form taps according to secondary characteristics of the process. Int J Adv Manuf Technol 93:2357–2368. https://doi.org/10.1007/s00170-017-0573-xCrossRef

Monka P, Monkova K, Modrak V, Hric S, Pastucha P (2019) Study of a tap failure at the internal threads machining. Eng Fail Anal 100:25–36. https://doi.org/10.1016/j.engfailanal.2019.02.035CrossRef

Gil Del Val A, Fernández J, Arizmendi M, Veiga F, Urízar JL, Berriozábal A, Axpe A, Diéguez PM (2013) On line diagnosis strategy of thread quality in tapping. Procedia Eng 63:208–217. https://doi.org/10.1016/j.proeng.2013.08.196CrossRef

Martikáň P, Drbúl M, Holubják J, Mrázik J, Joch R (2016) The issue of determining the geometric position deviation of the threaded holes. Adv Sci Technol Res J 10(32):47–52. https://doi.org/10.12913/22998624/65107CrossRef

Zhou Y, Wang X, Zhang L (2023) Research on assembly method of threaded fasteners based on visual and force information. Processes 11(6):1770. https://doi.org/10.3390/pr11061770CrossRef

Pitipong S, Pornjit P, Watcharin P (2010) An automated four-DOF robot screw fastening using visual servo. In: 2010 IEEE/SICE International symposium on system integration. IEEE, pp 379–383. https://doi.org/10.1109/SII.2010.5708355

10.

Chhatpar SR, Branicky MS (2001) Search strategies for peg-in-hole assemblies with position uncertainty. In: Proceedings 2001 IEEE/RSJ international conference on intelligent robots and systems. Expanding the societal role of robotics in the the next millennium (Cat. No. 01CH37180), vol 3. IEEE, pp 1465–1470. https://doi.org/10.1109/IROS.2001.977187

11.

Sharma K, Shirwalkar V, Pal PK (2017) Peg-in-hole search using convex optimization techniques. Ind Rob: An Int J 44(5):618–628. https://doi.org/10.1108/IR-09-2016-0240CrossRef

12.

Gravel D, Zhang G, Bell A, Zhang B (2009) Objective metric study for doe-based parameter optimization in robotic torque converter assembly. In: 2009 IEEE/RSJ International conference on intelligent robots and systems. IEEE, pp 3832–3837. https://doi.org/10.1109/IROS.2009.5353959

13.

Park H, Park J, Lee D-H, Park J-H, Bae J-H (2020) Compliant peg-in-hole assembly using partial spiral force trajectory with tilted peg posture. IEEE Robot Autom Lett 5(3):4447–4454. https://doi.org/10.1109/LRA.2020.3000428CrossRef

14.

Jia Z, Bhatia A, Aronson RM, Bourne D, Mason MT (2018) A survey of automated threaded fastening. IEEE Trans Autom Sci Eng 16(1):298–310. https://doi.org/10.1109/TASE.2018.2835382CrossRef

15.

Khan R, Niederwestberg J, Chui Y-H (2021) Influence of insertion angle, diameter and thread on embedment properties of self-tapping screws. Eur J Wood Wood Prod 79(3):707–718. https://doi.org/10.1007/s00107-020-01651-5

16.

Nicolson EJ, Fearing RS (1993) Compliant control of threaded fastener insertion. In: [1993] Proceedings IEEE international conference on robotics and automation. IEEE, pp 484–490. https://doi.org/10.1109/ROBOT.1993.292026

17.

Dunne BJ (1986) Precision torque control for threaded part assembly. PhD thesis, Massachusetts Institute of Technology. https://doi.org/1721.1/97288

18.

Whitney DE (2004) Mechanical assemblies: their design, manufacture, and role in product development, vol 1. Oxford University Press, New York. https://doi.org/10.1108/aa.2004.03324aae.002

19.

Diftler MA (1998) Alignment of threaded parts using a robot hand: theory and experiments. Rice University. https://doi.org/10.1109/70.795791

20.

Diftler MA, Walker ID (1999) Experiments in aligning threaded parts using a robot hand. IEEE Trans Robot Autom 15(5):858–868. https://doi.org/10.1109/70.795791CrossRef

21.

Tang L, Jia Y-B (2023) Robotic fastening with a manual screwdriver. In: 2023 IEEE international conference on robotics and automation (ICRA). IEEE, pp 5269–5275. https://doi.org/10.1109/ICRA48891.2023.10161139

22.

Kang SH, Jin M, Chang PH (2009) A solution to the accuracy/robustness dilemma in impedance control. IEEE/ASME Trans Mechatron 14(3):282–294. https://doi.org/10.1109/TMECH.2008.2005524CrossRef

23.

Cheng H, Chen H (2014) Online parameter optimization in robotic force controlled assembly processes. In: 2014 IEEE International conference on robotics and automation (ICRA). IEEE, pp 3465–3470. https://doi.org/10.1109/ICRA.2014.6907358

Title: Robot motion planning and control for thread hole cleaning tasks
Authors: Hongtai Cheng
Kai Wang
Xiong Cheng
Publication date: 29-02-2024
Publisher: Springer London
Published in: The International Journal of Advanced Manufacturing Technology / Issue 9-10/2024
Print ISSN: 0268-3768
Electronic ISSN: 1433-3015
DOI: https://doi.org/10.1007/s00170-024-13262-y

Springer Professional

Abstract

Please log in to get access to your license.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Springer Professional "Technik"

Other articles of this Issue 9-10/2024

Effects of hygrothermal aging on the physicochemical and mechanical properties of 3D-printed PA6

A novel path planning method of robotic grinding for free-form weld seam based on 3D point cloud

Facile synthesis of SnO2 nanopowders on laser-patterned ITO electrodes for fast response NO2 gas sensors

Enhancing automatic inspection and characterization of carbon fiber composites through hyperspectral diffuse reflection analysis and k-means clustering

Modelling and simulation of heat flow in indexable insert drilling

Research on dynamic characteristics of turning process system based on finite element generalized dynamics space

Premium Partners