Bolt Tigenting

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     A 4-stage Mandani fuzzy logic control with error detection capability is implemented with a programmabl logic controller (PLC) which integrates MATLAB Simulink in real time in a Beckhoff TwinCAT 3 system for tightening process.  Linguistic rules representing the expert knowledge on the bolt tightening process are developed. The membership functions are designed heuristically to achieve a good bolt tightening performance in terms transient response, reliability and robustness.

Details can be found in the following paper:

  1.  Christian Deters, EmanueleLindoSecco, Helge Arne Wurdemann, Hak-Keung Lam, lakmalSeneviratne,KasparAlthoefer, “Model-free fuzzy tightening control for bolt/nut joint connections of wind turbine hubs,” inProc. of 2013 IEEE International Conference on Robotics and Automation, KongresszentrumKarlsruhe,Karlsruhe, Germany, May 6-10, 2013, pp. 270-276.

The above move clips (playing at 8x speed) shows a tightening tool (DSM BL/140 MDW) mounted on a robot arm (Fanuc M6iB) picking up a nut (M24), moving to the right position and tightening it to a bolt.