Failure Mode Based Design and Optimization of the Electrode Packaging Process for Large Scale Battery Cells

Enhancements of Force-Torque Map Based Assembly Applied to Parallel Robots

Categories Konferenz
Year 2010
Authors Dietrich, F.; Wobbe, F.; Buchholz, D.; Sowinski, F.; Raatz, A.; Schumacher, W.; Wahl, F. M.
Published in Proc. of IEEE International Conference on Industrial Technology, Valparaiso, Chile, 2010, pp. 469-474

This article presents the application and enhancements of assembly strategies using force-torque maps in view of parallel robots. Starting from classical assembly strategies the fundamentals of force-torque maps are briefly discussed. Taking up the core idea, a strategy for assembling objects by parallel robots is proposed, where frictional effects are reduced by an enhanced force and position control. Special attention is paid to acquisition of force-torque maps with respect to parameter sensitivity. Practical issues are pointed out and discussed in view of industrial applications. A quality assessment of force-torque maps based on a redundancy index is introduced hinting at the performance and possibilities of optimization of the assembly strategy.

ISBN 978-1-4244-5697-0
DOI 10.1109/ICIT.2010.5472750