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Sökning: WFRF:(Jonsson Anders) > Konferensbidrag > Jonsson Marie

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  • Jonsson, Marie, et al. (författare)
  • Force Controlled Assembly of a Compliant Rib
  • 2011
  • Konferensbidrag (refereegranskat)abstract
    • Automation in aerospace industry is often in the form of dedicated solutions and focused on processes like drilling, riveting etc. The common industrial robot has due to limitations in positional accuracy and stiffness often been unsuitable for aerospace manufacturing. One major cost driver in aircraft manufacturing is manual assembly and the bespoke tooling needed. Assembly tasks frequently involve setting relations between parts rather than a global need for accuracy. This makes assembly a suitable process for the use of force control. With force control a robot equipped with needed software and hardware, searches for desired force rather than for a position. To test the usefulness of force control for aircraft assembly an experimental case aligning a compliant rib to multiple surfaces was designed and executed. The system used consisted of a standard ABB robot and an open controller and the assembly sequence was made up of several steps in order to achieve final position. The result shows that the process is robust and repetitive and has the potential to reduce the need for bespoke jigs and fixtures.
  • Jonsson, Marie, et al. (författare)
  • Force Feedback for Assembly of Aircraft Structures
  • 2010
  • Ingår i: Proceedings of the SAE 2010 Aerospace Manufacturing and Automated Fastening Conference & Exhibition. - SAE International.
  • Konferensbidrag (refereegranskat)abstract
    • Variability in composite manufacture and the limitations in positional accuracy of common industrial robots have hampered automation of assembly tasks within aircraft manufacturing. One way to handle geometry variations and robot compliancy is to use force control. Force control technology utilizes a sensor mounted on the robot to feedback force data to the controller system so instead of being position driven, i.e. programmed to achieve a certain position with the tool, the robot can be programmed to achieve a certain force. This paper presents an experimental case where a compliant rib is aligned to multiple surfaces using force feedback and an industrial robot system from ABB. Two types of ribs where used, one full size carbon fiber rib, and one smaller metal replica for evaluation purposes. The alignment sequence consisted of several iterative steps and a search procedure was implemented within the robot control system. The technology has the potential to lessen the need for dedicated tooling, reduce the need for traditional workspace calibration and can be used in several other applications, such as pin and socket type assemblies found in pylons or landing gear or “part to part” assemblies such as leading edge ribs to spar.
  • Stolt, Andreas, et al. (författare)
  • Force controlled assembly of flexible aircraft structure
  • 2011
  • Ingår i: Proceedings - IEEE International Conference on Robotics and Automation. - Shanghai, China : IEEE. ; s. 6027-6032
  • Konferensbidrag (refereegranskat)abstract
    • The use of industrial robots in the aircraft industry has been hampered by a combination of poor accuracy of the robots and poor calibration of the workcell, and also manufacturing variability in composite parts. A way to handle these difficulties is using force control. An experimental case where a semi-compliant rib is aligned to multiple surfaces is used as an example to show this. The constraint-based task specification framework is used for the modelling and control, and the search and alignment sequence required for the assembly is modeled with a state machine. An implementation on an industrial robot system is presented and experimental data is evaluated. The described approach is easy to apply to other fields and more complicated assembly operations as well. © 2011 IEEE.
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