基于V-REP的主动柔顺式机器人轴孔装配仿真

AXLE HOLE ASSEMBLY SIMULATION OF ACTIVE COMPLIANT ROBOT BASED ON V-REP

将机器人应用于轴孔装配作业中可大大提高生产效率,降低生产成本,但同时也带来了一定的风险,当装配过程遇到卡阻现象时会对装配工件甚至机器人造成损害。本文设计了一种主动柔顺装配系统,将六维力传感器安装于机械臂末端,可实时监测安装过程中的力矩大小,当装配过程中出现卡阻现象时,通过一种主动柔顺装配方案进行去卡阻,使轴孔装配作业可以平稳顺利地进行。论文对卡阻现象进行了力学分析,得出六维力传感器反馈值与轴孔接触状态之间的对应关系,并提出了基于工件旋转中心的去卡阻方案,并在V-REP平台下编写程序对该轴孔装配方案进行验证,设置工件以不同倾斜角进行入孔作业,并对实验数据进行了详细的分析。

The application of robot in shaft hole assembly can greatly improve the production efficiency and reduce the production cost,but at the same time,it also brings some risks.When the assembly process encounters the blocking phenomenon,it will cause damage to the assembly workpiece and even harm the robot.In this paper,a active compliant assembly system is designed,in which the six-dimensional force sensor is installed at the end of the manipulator to monitor the torque in the installation process.When the blocking phenomenon occurs in the assembly process,the clamping resistance is removed by an active compliant assembly scheme.So that the shaft hole assembly operation can be carried out smoothly.In this paper,the mechanical analysis of the jamming phenomenon is carried out,and the correspondence between the feedback value of the six-dimensional force sensor and the contact state of the shaft hole is obtained.The de-damping scheme based on the rotation center of the workpiece is proposed and written under the V-REP platform.The program verifies the assembly scheme of the shaft hole,sets the workpiece to enter the hole at different inclination angles,and analyzes the experimental data in detail.