Mathematical Model of the Dynamics of a Robotic Assembly Using Vibration Technology and Adaptation

The paper considers technological reliability of the robotic assembly through the use of vibration device, which contains the base part. As well as introduces the mathematical model that describes the motion trajectory of the center of mass of the installed part in a robotic assembly in the form of Lagrange equations of the second kind. The paper describes an experimental setup based on an industrial robot, additionally equipped with a force-torque sensor. The sensor allows you to assess the contact situation in the zone of pairing and confirm the adequacy of the mathematical model. The created mathematical model should help to study the influence of various factors on the assembly process.