Reliability for the Robotic Assembly of Cylindrical Parts

The paper presents a method for robot assembly of cylindrical parts of the type “shaft-bushing” with the clearance to 0.005 mm by applying passive adaptation and low-frequency vibrations. The method consists in creating of a special mode of assembly, providing conjugation components without jamming. Data from the mathematical model were verified experimentally. Also the mathematical model allows one to determine the reactions at the contact points that can be applied when assembling the parts that require control of reactions in the zone of conjugation.