Experimental study on vibration reduction in human-robot-collaboration pneumatic percussive riveting

The squeezing force in the process of Human-Robot-Collaboration pneumatic percussive riveting will directly affect the quality of riveting and the service life of collaborative robots. In order to reduce the influence of the squeezing force on collaboration robot, a cylinder bucking bar is designed to conduct vibration reduction. A Human-Robot-Collaboration pneumatic percussive riveting test bench is built to study the vibration reduction performance of the cylinder bucking bar. Different air pressures are introduced into the cylinder to make the cylinder bucking bar produce different feed forces. Comparing the mean and variance of the data collected by the force sensor, the influence of different feed forces on the squeezing force and its variance of the robot is studied. The results show that only relying on the vibration reduction bucking bar for vibration reduction will increase the vibration of the robot and even damage the skin. When introducing the operator to the riveting, the cylinder bucking bar has a certain vibration reduction performance. With the increase of the cylinder top tightening force, the squeezing force on the robot decreases and the variance of the squeezing force becomes larger.