Force-controlled assembly with Universal Robots and Robotiq
Force-controlled assembly with Universal Robots and Robotiq
Force-controlled assembly with Universal Robots and Robotiq
Force-controlled assembly with Universal Robots and Robotiq
Force-controlled assembly with Universal Robots and Robotiq
Force-controlled assembly with Universal Robots and Robotiq

Mobile phone assembly (demo)

Programming cost reduced by 26.000 EUR

In order to demonstrate the usability of the ARTIMINDS RPS for force-based insertion and snap-fitting, we decided to test the insertion of a battery pack into a mobile phone and the closing of a battery cover.

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Adaptive programming with force-feedback is a must when dealing with process variances such as tolerances, the wear of parts and robot precision. The first step is to pick up the battery and to attach it into the mobile rear. This requires solving a box insertion problem, as the battery might touch the sides of the cover. The next step is to insert the battery by rotating it around the battery front and applying a tangential force. In this case the possible slipping of the gripper needs to be considered. The attachment of the lid follows a similar routine starting with an alignment of lid and housing.

Specific task challenges:
  • Imprecise vacuum gripper
  • Tolerances of fixtures (+/- 0.5mm)
  • Rotation around virtual axle with tangential force application
  • Compensation of a slipping gripper
  • Force-based alignment of parts

The use of the ArtiMinds RPS reveals a cost advantage of approx. 26.000 EUR compared to classical automation via a hand-written script combined with a teach-panel. In addition the solution created can be re-used easily and is simple to adapt. This reduces the required commissioning time, which, however, is not considered in the calculation below.

ArtiMinds RPS Classic solution
Programming time: 7.5h 230h (senior expert)
Lines of code 12 wizard modules approx. 2,300 lines UR script code
Programming cost (120 EUR/h) 900 EUR 27.600 EUR

The task was programmed using only five different ArtiMinds RPS wizards, allowing for intuitive teach-in within the whole process.

Sequence of wizards used
Insert battery pack:
  • Grasp - grasp battery pack
  • Spiral Search With Contact - search pose to insert battery pack into holder
  • Move Linear Relative Contact - insert battery pack until contact with bottom side of holder
  • Move Linear Relative Contact - move battery pack to contact left side of holder
  • Move Linear Force - insert battery pack while maintaining contact with left side of holder
  • Ungrasp Relative - release battery pack
Mount cover:
  • Grasp - grasp cover of mobile phone
  • Spiral Search With Contact - search pose to attach cover
  • Move Linear Relative Contact - establish contact between cover and top of mobile phone
  • Move Linear Relative Contact - move cover until contact with side of mobile phone
  • Move Linear Force - rotate cover while maintaining contact with side of mobile phone
  • Ungrasp Relative - release cover