№3 (58), 2021. ТECHNOLOGY OF MACHINE BUILDING

M.V. Vartanov, V.K. Petrov, Van Dung Nguyen, Dinh Van Tran

Analysis of jamming conditions in robotic assembly using the force-torque sensor

The purpose of this article is studying the jamming of the assembly process with cylindrical parts and building the mathematical model to show the dependence of forces and moments on parts’ mating depth in the assembly zone. The results of the experiment are described. The conditions for the occurrence of jamming have been determined.

Keywords: robotic assembly, assembly conditions, force-torque sensor.

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