Determination of the requirements for pneumatic operation with contour control for assembly lines
The paper considers the influence of changes in the stiffness of the link modules, the load and mass of the moving parts on the positioning error of the contour-controlled robot. This topic is relevant when using the contour control of robots on mobile assembly lines. The results of the dependence of the dynamic positioning error on the design parameters of the pneumatic drive, the parameters of the conveyor movement and the gap between the mating surfaces of the assembled parts are presented. The resulting requirements allow the use of pneumatic robots with contour control in the maintenance of assembly lines.