面向抛磨机器人的高精度力控装置设计与分析

Design and Analysis of High Precision Force Control Device for Polishing Robot

针对目前抛磨机器人气动式末端力控装置普遍存在响应速度慢、力控精度低的共性问题,设计了一种基于音圈电机直驱的高精度末端力控装置。通过将氮气弹簧和音圈电机并联的方式,使之在具备高力控精度和高响应速度的同时还具备良好的缓冲性能;通过引入拉伸弹簧,进一步提高了系统的响应速度和力控带宽;通过将氮气弹簧安装在中空音圈电机内部,保证了其结构紧凑。建立了氮气弹簧弹力和位移的关系模型和系统的动力学模型,并对弹簧刚度进行了优化。最后,研制出系统样机并开展了实验验证,结果显示该力控装置响应时间小于0.1 s,力控制精度为±0.1 N,其力控性能明显优于传统的力控装置。

Aiming at the problems of slow response speed and low accuracy of pneumatic force control device of polishing robot, a high accuracy force control device based on voice coil motor is designed.By parallel connection of nitrogen spring and voice coil motor, it not only has high force control accuracy and high response speed, but also has good cushioning performance;By adding the tension springs, the response speed and force control bandwidth of the system are improved;Through placing the nitrogen spring in the hollow voice coil motor, the device has a compact structure.The relationship between spring force and displacement and the dynamic model of the system are established, and the spring stiffness is optimized.Finally, the prototype is developed and tested.The results show that the response time of the force control device is less than 0.1 s, and the force control accuracy is ±0.1 N,Its performance is much better than that of the traditional force control device.