On-pendant robotic assembly parameter optimization

摘要

This paper presents on-pendant assembly parameter optimization with an industrial robot with force control. ABB industrial robot and its latest controller IRC5 is used as the host platform of the development; design of experiment (DOE) method is used as an optimization tool; and automatic transmission torque converter assembly is used as a test case. All tasks such as data manipulation, data analysis, result presentation and user interface, except robot motion execution, were performed on a graphical teach pendent. Teach pedant GUI building software ScreenMaker is used in the development. This on-pendant parameter optimization tool greatly reduced the complexity of assembly parameter optimization process and the workload of robot userpsilas.