Workpiece force and position control for active and flexible fixtures in assembly
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ORIGINAL ARTICLE
Workpiece force and position control for active and flexible fixtures in assembly Ilker Erdem 1
&
Gauti Asbjörnsson 1 & Henrik Kihlman 2
Received: 1 June 2020 / Accepted: 26 October 2020 # Springer-Verlag London Ltd., part of Springer Nature 2020
Abstract With strengthening focus on digitalization and flexibility, active and flexible fixtures can provide the right tools for manufacturing systems. However, fixturing solutions are often too individualized for processes and need a universal approach. Firstly, a system formulation of multiple workpieces interacting with each other is presented. Secondly, strategies for direct and indirect force control along with their characteristics have been developed. The stability of assembly of force-controlled components has been analyzed, and certain key characteristics have been presented. The position control under different signal types, including oscillatory, have been discussed. Finally, a set of experiments have been conducted for performance evaluation. Keywords Fixture . Active . Flexible . Control . Manufacturing . Production
1 Introduction As the race toward digitalized and flexible manufacturing intensifies, the importance of automation and robotics grows rapidly for every element in a production system [1]. Fixtures, as a member of this system, have been investigated for their potential contribution to flexibility, automation, and digitalization [2]. For this purpose, various fixture designs and solutions have been proposed to meet the potential where the terms flexibility and activeness are applied to classify their capabilities. Per definition, a fixture that can be manipulated to multiple configurations using kinematic structures is called a flexible fixture where the term activeness describes a device
* Ilker Erdem [email protected] Gauti Asbjörnsson [email protected] Henrik Kihlman [email protected] 1
Department of Industrial and Materials Science, Chalmers University of Technology, Gothenburg, Sweden
2
Prodtex AB, Gothenburg, Sweden
that can maintain and satisfy process parameters under varying disturbances [3]. The notable contributions in flexible fixtures have been made mainly within the machining, automotive, and aerospace industries with a particular focus on assembly and machining by deploying various kinematic structures [4]. De Leonardo et al. [5] developed an automated flexible fixture in a so-called swarm configuration where multiple fixtures using a parallel kinematic structure were aimed to withstand drilling and milling forces in a multi-component assembly scenario. Jonsson, Ossbahr [6] and Molfino et al. [7] described the development of parallel kinematic machines (PKM) as flexible fixtures using both internal and external actuators, respectively. Similar to the solutions mentioned above, Yu et al. [8] offered a conceptual study regarding the use of PKMs in coordination for sheet metal assemblies in the automotive industry. Moreover, automated solutions with customized kinematic structures such as for ae
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