一种基于力感的机器人自动寻孔新方法

A NEW APPROACH TO ROBOT SEARCHING HOLE BASED ON FORCE SENSING

本文提出一种基于力感的机器人自动寻孔新方法,该方法是将轴工件在孔工件表面做圆锥运动,用腕力传感器检测对应的轴向力序列,即可在约一个孔径的误差范围内,在轴、孔无倒角的情况下,获得孔中心的搜寻方向.文中还给出了用该寻孔方法在PUMA562机器人和Movemaster-EX机器人上的实验结果.实验结果表明,该寻孔方法具有快速、准确和实用的特点.

This paper presents a new approach to robot searching hole based on force sensing. Making a circular pin part do circular conical motion on the surface of a hole part, an exial force sequence can be measured by a wrist force sensor. Based on the axial force sequence we can get the searching direction to the hole center within the error of a hole diameter in the case of unchamfer pin and hole. The expriment results using the searching hole method in PUMA 562 robot and Movemaster-EX robot are also given. The results show that the searching hole method has the feature of fastness, accuracy and easy practice.