94% of researchers rate our articles as excellent or good
Learn more about the work of our research integrity team to safeguard the quality of each article we publish.
Find out more
ORIGINAL RESEARCH article
Front. Mech. Eng.
Sec. Mechatronics
Volume 11 - 2025 | doi: 10.3389/fmech.2025.1555371
Admittance Control for 6-DOF Robots in Circular Production Line Assembly
Provisionally accepted- Ningbo University, Ningbo, China
In circular production lines, issues such as positioning errors, manufacturing errors at different square groove workstations, and the accumulation of errors during continuous assembly reduce the assembly success rate and limit production efficiency. Based on the relative geometric relationships between the assembly workpieces, the entire assembly process is discretized into three stages: pre-assembly, hole-search contact adjustment, and insertion. Due to the complexity of predicting assembly forces and the uncertainty of workstation assembly in circular production lines, particular emphasis is placed on the square hole search contact adjustment stage. To address the jamming and wedging problems encountered during the assembly of square groove parts, this study proposes an innovative vertical hole-search strategy that achieves compliant assembly of square holes through admittance control. The strategy is compared with the traditional Archimedes spiral search method and demonstrates significant results in experiments. Specifically, the vertical hole-search strategy applied to the square hole assembly platform improves the search adjustment speed by 46.4% compared to the traditional method, significantly reduces search time, and enhances assembly efficiency. By analyzing the admittance parameters and determining the optimal tuning rules, the experiment validates the advantages of this strategy in improving both efficiency and accuracy.
Keywords: Compliant assembly, Vertical hole-searching, Complex parts；Impedance parameters, Admittance control, circular production lines
Received: 04 Jan 2025; Accepted: 26 Feb 2025.
Copyright: © 2025 Chai, Li and Chen. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
* Correspondence:
Junhua Chen, Ningbo University, Ningbo, China
Disclaimer: All claims expressed in this article are solely those of the authors and do not necessarily represent those of their affiliated organizations, or those of the publisher, the editors and the reviewers. Any product that may be evaluated in this article or claim that may be made by its manufacturer is not guaranteed or endorsed by the publisher.