基于导纳控制的薄壁变形套筒柔顺装配方法

Compliant Assembly Method of Deformed Thin-Wall Sleeve Based on Admittance Control

针对薄壁套筒本身在装配过程中易变形而导致装配困难的问题,提出一种多维方向的离散化导纳力控制装配方法。首先,描述薄壁套筒工件装配过程中因变形产生的问题;然后,利用力变换方法将力和力矩信息转换到工作坐标系上,采用螺旋搜索方式进行套筒预插入,通过导纳控制方法建立“接触力-机器人动作”关系模型;最后,在薄壁套筒对接装配实验平台上进行测试验证。结果表明,机器人采用导纳力控制的方法可以获得末端姿态调整的策略,完成薄壁变形套筒装配,不同位置、角度偏差下的套筒平均装配成功率接近90%。

Aiming at the problem of assembly difficulty caused by the deformability of thin-wall sleeve in the assembly process.A multi-dimensional discrete admittance-control assembly method is adopted.Firstly,the problems caused by deformation of thin-wall sleeve workpiece in the assembly process are described.Then,the force and torque information are converted to the working coordinate system by force transformation,the sleeve pre-insertion is carried out by spiral search method,and the"contact force-robot action"relationship model is established by admittance control method.Finally,the method is tested and verified on a thin-wall sleeve assembly platform.The results shows that the robot can obtain the end attitude adjustment strategy by admittance control.Assembly of deformed thin-wall sleeve is completed.The average success rate of sleeve assembly under different positions and angle deviations can be reached to 90%.