During this master, we have contributed to the research by designing and integrating a new insertion strategy based on tilt. Its effect on the robot position, as well as the force applied on the wrist was analyzed carefully to form a solution vector, with its direction aligned with the hole centre of unlocated bore.
The effect was analyzed to reduce the effect of randomness of prior strategy, as to generate more robotic intelligence in the assembly cells. The strategy was created without any external tools to the robot used.
We were able to make the insertion of many types of shafts, including different materials, diameter and length. The different environment study was crucial for the flexibility of a new strategy if implemented in the assembly lines. The results showed that the new strategy was faster than the spiral search, while retaining similar insertion performance and capability.
| Date | 18 Dec 2022 |
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| Original language | French |
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| Awarding Institution | - École de technologie supérieure
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| Supervisor | Vincent Duchaine (Supervisor) |
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Palmieri, S. (Author),
Duchaine (Supervisor),
18 Dec 2022Student thesis: Master's thesis › Master in Engineering: Mechanical Engineering