The task of screwing is based on a set of actions with no added value, requiring precision, attention, and repeatability. These set of actions could consist of alienating and demanding activity for a human operator. Collaborative robotics can facilitate the performance of such tasks. This investigation focuses on the development of a smart station for the automated screwing of fittings in pneumatic manifolds. The collaborative robot Sawyer produced by Rethink Robotics is equipped with an appropriate end-effector and was utilized to receive the fittings from a vibrating feeder towards the end-effector. This facilitated centering of the fittings on the threaded holes, and the performance of the screwing task on a set of manifolds placed on a rotating station. The design of the end-effector and its prototype is described. In addition, the proposed automated process was experimentally tested and its effectiveness was validated.

Automated Screwing of Fittings in Pneumatic Manifolds

Michele Gabrio Antonelli
;
Pierluigi Beomonte Zobel
2021

Abstract

The task of screwing is based on a set of actions with no added value, requiring precision, attention, and repeatability. These set of actions could consist of alienating and demanding activity for a human operator. Collaborative robotics can facilitate the performance of such tasks. This investigation focuses on the development of a smart station for the automated screwing of fittings in pneumatic manifolds. The collaborative robot Sawyer produced by Rethink Robotics is equipped with an appropriate end-effector and was utilized to receive the fittings from a vibrating feeder towards the end-effector. This facilitated centering of the fittings on the threaded holes, and the performance of the screwing task on a set of manifolds placed on a rotating station. The design of the end-effector and its prototype is described. In addition, the proposed automated process was experimentally tested and its effectiveness was validated.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11697/160270
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