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Research Papers

# Dynamic Modeling and Simulation of Percussive Impact Riveting for Robotic Automation

[+] Author and Article Information
Yuwen Li, Kamran Behdinan

Department of Aerospace Engineering, Ryerson University, 350 Victoria Street, Toronto, ON, M5B 2K3, Canada

Fengfeng Xi1

Department of Aerospace Engineering, Ryerson University, 350 Victoria Street, Toronto, ON, M5B 2K3, Canadafengxi@ryerson.ca

In the FEA model in ANSYS (32), a kinematic constraint was defined that the contact surface $SC$ is attached on the rigid wall during and after the impact (i.e., the cylinder does not bounce from the rigid wall). This may be the reason that the difference exists between ANSYS and other results.

1

Corresponding author.

J. Comput. Nonlinear Dynam 5(2), 021011 (Feb 19, 2010) (10 pages) doi:10.1115/1.4000962 History: Received April 22, 2009; Revised December 15, 2009; Published February 19, 2010

## Abstract

Dynamic modeling and simulation of percussive impact riveting are presented for robotic automation. This is an impact induced process to deform rivets, which involves an impact rivet gun driven under pneumatic pressure to pound a rivet against a bucking bar. To model this process, first, a new approach is developed to determine the hammer output speed under input pneumatic pressure. Second, impact dynamics is applied to model the impact acting on the rivet under the hammer hits. Finally, elastoplastic analysis is carried out to derive nonlinear equations for the determination of permanent (plastic) deformations of the rivet when hitting the bucking bar. For simulation, numerical integration algorithms are applied to solve the impact dynamic model and determine the riveting time according to riveting specifications. Riveting tests are carried out for model validation. Agreement between the simulation and experimental results shows the effectiveness of the proposed method.

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## Figures

Figure 9

Normalization factor (18)

Figure 10

Lumped mass model, impact, and internal forces

Figure 11

Stress-strain curve of the first rivet element

Figure 12

Stress-strain curve of the second to Nth elements

Figure 1

Robotic riveting system

Figure 2

Experimental setup

Figure 3

Rivet gun

Figure 13

Stress-strain curve of the hammer

Figure 14

Gun simulation procedure

Figure 15

Efficiency factor

Figure 16

Impulse frequencies f

Figure 17

Simulation results for piston (pi=93.6 kPa)

Figure 18

Final shape of the cylinder in simulation (ode15s)

Figure 19

Simulation results for the first impact

Figure 20

Variation in final length with riveting time for different pi: (a) 66.7 kPa, (b) 80.8 kPa, and (c) 93.6 kPa.

Figure 4

Measured hammer acceleration

Figure 5

Measured input pressure

Figure 6

Rivets in tests

Figure 7

Air flow in a rivet gun

Figure 8

Impacts in percussive riveting

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