Vibratory alignment of the parts during robotized assembly

Paper deals with vibratory alignment of the components during robotized assembly as one of the parts is gripped by the robotic gripper and provided with vibratory excitation along the assembly direction. Numerical simulation of parts alignment was carried out. The dependencies of vibratory alignment duration on dynamic system and excitation parameters were determined. Existing areas of parameter sets, where reliable alignment is taking place, were defined. Results of numerical simulation were verified experimentally. Obtained results of numerical simulation and experiments demonstrated that under properly chosen system and excitation parameters, vibratory method may be successfully applied in robotized assembly for peg-hole parts alignment