도어트림 고정을 위한 Agile Robotic Fixture 개발
Development of an Agile Robotic Fixture for Door Trim Fixation
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This study presents the development of an Agile Robotic Fixture (ARF) for door trim fixation in robotic workcell production systems. The ARF is a modular robotic jig designed to accommodate geometric variations in door trims based on vehicle position. To ensure full reachability across the anticipated trim positions, a workspace analysis is conducted using the Monte Carlo method. For compliant interaction and intuitive operation, a force-based admittance control algorithm is implemented, which adjusts joint trajectories in real time based on measurements from a force/torque sensor. Experimental validation is performed using a prototype ARF, during which door trims are fixed and subjected to manual clip insertion and removal. The results confirm that the proposed ARF provides compliant fixation without unintended displacement under the tested conditions.
Abstract
This study presents the development of an Agile Robotic Fixture (ARF) for door trim fixation in robotic workcell production systems. The ARF is a modular robotic jig designed to accommodate geometric variations in door trims based on vehicle position. To ensure full reachability across the anticipated trim positions, a workspace analysis is conducted using the Monte Carlo method. For compliant interaction and intuitive operation, a force-based admittance control algorithm is implemented, which adjusts joint trajectories in real time based on measurements from a force/torque sensor. Experimental validation is performed using a prototype ARF, during which door trims are fixed and subjected to manual clip insertion and removal. The results confirm that the proposed ARF provides compliant fixation without unintended displacement under the tested conditions.