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Flexible Control of Bolt Assembly Robot for Tunnel Pipelines
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Qiang CUI1, 2, Yan-jie LI1, *, Zhi-ming LANG2, 3, Chun-guang BU2, 3, Nuo MEI1
Science Technology and Engineering | 2025, 25(10) : 4192 - 4198
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Science Technology and Engineering | 2025, 25(10): 4192-4198
• Papers·Automation and Computational Technology •
Flexible Control of Bolt Assembly Robot for Tunnel Pipelines
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Qiang CUI1, 2, Yan-jie LI1, *, Zhi-ming LANG2, 3, Chun-guang BU2, 3, Nuo MEI1
Affiliations
  • 1 School of Mechanical Engineering, Shenyang Ligong University, Shenyang 110159, China
  • 2 State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
  • 3 Innovation Institute of Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
Published: 2025-04-08 doi: 10.12404/j.issn.1671-1815.2402397
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In order to meet the automatic safety needs of the assembly of fixed threaded hole bolts for underground coal mine roadway pipelines, a flexible operation control algorithm for bolt tightening based on admittance method was studied for the six-degree-of-freedom robotic arm equipped with six-dimensional force/torque sensor. The main contents include the theoretical research of gravity compensation algorithm based on six-point positioning method and admittance-based bolt tightening compliance control algorithm. A bolt fastening experimental system based on the robotic arm was set up, and the assembly experiment of fixed threaded hole bolts was carried out. The results indicate a decreasing trend in the forces and torques experienced during assembly, demonstrating the effectiveness and safety of the compliant operation control algorithm based on the admittance method.

mechanical arm  /  compliance control  /  bolt assembly  /  admittance control algorithm
Qiang CUI, Yan-jie LI, Zhi-ming LANG, Chun-guang BU, Nuo MEI. Flexible Control of Bolt Assembly Robot for Tunnel Pipelines[J]. Science Technology and Engineering, 2025 , 25 (10) : 4192 -4198 . DOI: 10.12404/j.issn.1671-1815.2402397
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Year 2025 volume 25 Issue 10
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Article Info
doi: 10.12404/j.issn.1671-1815.2402397
  • Receive Date：2024-04-03
  • Online Date：2025-07-09
  • Published：2025-04-08
Article Data
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History
  • Received：2024-04-03
  • Revised：2024-12-30
Funding
Affiliations
    1 School of Mechanical Engineering, Shenyang Ligong University, Shenyang 110159, China
    2 State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
    3 Innovation Institute of Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
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表12种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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