ねじ締め・緩めの触覚特性とスマート工場の分解作業への応用
Haptics of Screwing and Unscrewing for its Application in Smart Factories for Disassembly
人がねじを回す際の力の加え方を実験で調べ、カムアウト防止の軸力がトルクに比例することやねじ頭形状の影響を明らかにし、分解ロボットRecyBotの制御設計に応用した。
著者: Dima Mironov, Miguel Altamirano, Hasan Zabihifar, Alina Liviniuk, Viktor Liviniuk, Dzmitry Tsetserukou
分類: cs.RO
原文アブストラクト
Reconstruction of skilled humans sensation and control system often leads to a development of robust control for the robots. We are developing an unscrewing robot for the automated disassembly which requires a comprehensive control system, but unscrewing experiments with robots are often limited to several conditions. On the contrary, humans typically have a broad range of screwing experiences and sensations throughout their lives, and we conducted an experiment to find these haptic patterns. Results show that people apply axial force to the screws to avoid screwdriver slippage (cam-outs), which is one of the key problems during screwing and unscrewing, and this axial force is proportional to the torque which is required for screwing. We have found that type of the screw head influences the amount of axial force applied. Using this knowledge an unscrewing robot for the smart disassembly factory RecyBot is developed, and experiments confirm the optimality of the strategy, used by humans. Finally, a methodology for robust unscrewing algorithm design is presented as a generalization of the findings. It can seriously speed up the development of the screwing and unscrewing robots and tools.
