Dynamic Behavior of a Manipulator Robot Excited by an External Force/ Application to Rivet Assembly

Abstract

In this work, we propose to study the installation of aluminum rivets, applying force to the rivet to assemble parts, this operation will be carried out by a robot (Staubli TX90) with four rotoid joints, the robot is equipped with a pneumatic hammer that will generate a series of shocks to deform the cylindrical head of the rivet. The latter will take on a permanent domed shape. This operation will excite the structure which will in turn be susceptible to vibrations. To carry out this work, we blocked the joint 4 and 6, and we modeled the structure using SolidWorks in different configurations to calculate the natural frequencies in order to avoid the resonance of the robot structure, then, we studied the inverse dynamics of the robot to verify its operation under the effect of the weight of the tool which is the pneumatic hammer. صخلم :