Automated Engine Piston Installation Using Industrial Robots
This paper presents engine piston installation using industrial robots. Because the current manual and hard automation engine piston installation systems are either labour intensive or inflexible and costly, the three-robot and two-robot piston installation systems are developed and investigated. The robotic piston installation process is simulated. A robotic piston stuffing gripper with ring detection is designed to perform the sophisticated stuffing process. Robot force control is used in the cylinder bore finding. The piston stuffing is implemented using a search-finding method based on the force control. The searching method and parameters are discussed. Related future research and development are proposed.
- [Show abstract] [Hide abstract] ABSTRACT: Traditional industrial robots have problems interacting with an uncalibrated, ill-defined environment where part geometry and position may vary. Active force control technology has therefore been suggested as a solution to add the extra sensory dimension needed to handle manufacturing tasks like assembly and deburring. The technology is proposed to give increased flexibility compared to other solutions and force control systems are available commercially. Active force control installations, however, are still uncommon in industry. This paper presents two cases of force control applications; assembly of a compliant carbon fiber structure and deburring/cleaning of iron castings. Based on these two cases, some issues are raised concerning how the technology can be further developed to fit the industrial setting, and the proposed benefits are re-examined and refined. The two cases show that programming, parameter setting and ease of use are critical components in lowering the industrial threshold, together with increased possibilities for application-specific compensation and filtering. Force control does, however, show great potential in extending the boundaries for variance in product and equipment like grippers and fixtures as well as decreasing the need for calibration of for example virtual models used for programming compared to traditional automated solutions.0Comments 2Citations
- [Show abstract] [Hide abstract] ABSTRACT: This paper presents the recent progress of using robotics in automotive powertain assembly manufacturing processes. After briefly describing force control and vision-guided robot (VGR), we introduce successful implementation of robotic assembly for transmission torque converters, VGR-based engine head assembly, transmission valve body assembly and engine piston installation. Then we discuss other robotic assembly related technologies such as visual servoing and assembly parameter optimization and followed by discussing assembly production line evolution such as the merging of automated-guided vehicle (AGV). The successful model of collaborative development between Ford Advanced Manufacturing Technology Development (AMTD) and ABB Robotics is also mentioned and reviewed.0Comments 11Citations
- [Show abstract] [Hide abstract] ABSTRACT: This paper presents on-pendant assembly parameter optimization with an industrial robot with force control. ABB industrial robot and its latest controller IRC5 is used as the host platform of the development; design of experiment (DOE) method is used as an optimization tool; and automatic transmission torque converter assembly is used as a test case. All tasks such as data manipulation, data analysis, result presentation and user interface, except robot motion execution, were performed on a graphical teach pendent. Teach pedant GUI building software ScreenMaker is used in the development. This on-pendant parameter optimization tool greatly reduced the complexity of assembly parameter optimization process and the workload of robot userpsilas.0Comments 4Citations