一种基于力传感器机器人装配作业的研究

The Study of Robot Assembly Based on Force Sensor

介绍了一种具有力觉功能的新型机器人二自由度平面微操作器（ＦＰＭＷ）．研制了具有四种选择细分数功能的ＦＰＭＷ高细分驱动器．ＦＰＭＷ与普通工业机器人ＰＵＭＡ５６２组成宏／微操作器系统，在开发的基于力／力矩信息的平面搜孔软件的指挥下，机器人宏／微操作器系统成功完成了精密轴孔装配作业．平均装配时间４．２秒．

A new kind of robot force-controlled planar micro-manipulator with 2-DOF (FPMW) is introduced. A four-choosed division number FPMW driver is also presented.FPMW and general purpose robot PUMA562 constructs a macro/micro manipulator system.Instructed by the force/torque planar searching hole strategy, the robot macro/micro manipulator system accomplishes successfully the precise peg-in-hole assembly work. The average working time is only about 4.2 seconds.