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Research Papers

Process Parameter Optimization of a Mobile Robotic Percussive Riveting System With Flexible Joints

[+] Author and Article Information
Yuwen Li

Professor
School of Mechatronic
Engineering and Automation,
Shanghai University,
Shanghai 200444, China
e-mail: yuwen.li@mail.mcgill.ca

Jiancheng Ji

School of Mechatronic
Engineering and Automation,
Shanghai University,
Shanghai 200444, China
e-mail: jcji09@163.com

Shuai Guo

School of Mechatronic
Engineering and Automation,
Shanghai University,
Shanghai 200444, China
e-mail: guoshuai@shu.edu.cn

Fengfeng (Jeff) Xi

Professor
Department of Aerospace Engineering,
Ryerson University,
Toronto, ON M5B 2K3, Canada
e-mail: fengxi@ryerson.ca

1Corresponding author.

Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received October 8, 2016; final manuscript received February 19, 2017; published online September 7, 2017. Assoc. Editor: Przemyslaw Perlikowski.

J. Comput. Nonlinear Dynam 12(6), 061005 (Sep 07, 2017) (7 pages) Paper No: CND-16-1486; doi: 10.1115/1.4036196 History: Received October 08, 2016; Revised February 19, 2017

This paper proposes a method for process parameter optimization of a mobile robotic percussive riveting system with flexible joints to guarantee the rivet gun alignment during the operation. This development is motivated by the increasing interest in using industrial robots to replace human operators for percussive impact riveting in aerospace assembly. In percussive riveting, the rivet gun generates repetitive impacts acting on the rivet. These impacts not only deform the rivet but also induce forced vibration to the robot, and thus the robot must hold the gun firmly during riveting. The process parameters for the mobile robotic riveting system include those related to the impact force generation for planning the rivet gun input and those related to the robot pose with respect to the joined panels for planning the mobile platform motion. These parameters are incorporated into a structural dynamic model of the robot under a periodic impact force. Then an approximate analytical solution is formulated to calculate the displacement of the rivet gun mounted on the end effector for its misalignment evaluation. It is found that both the force frequency and the mobile platform position have strong influence on the robotic riveting performance in terms of alignment during operation. Global optimization of these process parameters is carried out to demonstrate the practical application of the proposed method for the planning of the robotic percussive riveting system.

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References

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Figures

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Fig. 1

Mobile robotic percussive riveting system

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Fig. 2

Robotic percussive riveting for fuselage panels

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Fig. 3

Repetitive impact force and its frequency against gun pressure

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Fig. 5

Misalignment of rivet gun

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Fig. 6

Reference frames and riveting pattern

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Fig. 7

Influence of impact force frequency on rivet gun misalignment with X=−0.5 m and Y=Z=0 m

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Fig. 8

Influence of horizontal position of mobile platform on rivet gun misalignment with f=10 Hz and Z=0 m

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Fig. 9

Influence of vertical position of mobile platform on rivet gun misalignment with f=10 Hz, X=−0.6 m, and Y=0 m

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Fig. 10

Mean fitness value of the misalignment against generation using generic algorithm

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Fig. 11

Rivet gun poses with optimal process parameters

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