摘要
针对多级行星齿轮柔顺装配问题,首先介绍了国内外柔顺技术的发展状况,提出一种基于力/力矩的主动柔顺控制方式。然后,在对装配作业任务分析的基础上,设计一套两自由度的柔顺装配机构,并对控制系统构成、装配策略与柔顺控制算法进行研究。最后,通过多组齿轮的装配实验,验证了研制的柔顺装配机构与控制系统的性能。
Aiming at the program of multistage planetary gear assembly,the paper introduced the development of the compliance technology at home and abroad and proposed a active compliance control method based on force/torque.Then,Based on the analysis of assembly task,the paper designed a compliant assembly mechanism of two freedom and researched the control system composition,assembly strategy and the compliance control algorithm.At last,through the assembly experiment of several groups of gears,the performance of the developed compliant assembly mechanism and control system is verified.
作者
莫庆龙
谢彦音
李泽
甘林
MO Qing-long;XIE Yan-yin;LI Ze;GAN Lin(Guangdong Institute of Intelligent Manufacturing,Guangdong Key Laboratory of Modern Control Technology,Guangdong OpenLaboratory of Modern Control & Optical Mechanical and Electronic Technology,Guangzhou 510170,China;Guangdong HegiiSanitary Wares Co.,Ltd.,Chaozhou 515646,China)
出处
《机电工程技术》
2019年第6期70-72,共3页
Mechanical & Electrical Engineering Technology
基金
2018广东省科学院实施创新驱动发展能力建设专项项目(编号:2018GDASCX-0115)
2017广东省科学院实施创新驱动发展能力建设专项项目(编号:2017GDASCX-0115)
关键词
行星齿轮
柔顺控制
齿轮装配
planet gear
compliance control
gear assembly
