基于多方向导纳力控制的机器人柔顺装配系统

Robotic compliance assembly system based on multidimensional admittance control

针对轴孔装配过程中遇到卡阻或楔紧现象导致接触力过大损坏工件的问题,提出一种基于导纳力控制的机器人柔性装配系统。将轴孔装配过程为搜孔阶段和调整插入阶段。首先,搜孔阶段提出一种基于阿基米德螺旋线的搜孔策略。其次,调整插入阶段提出一种基于等效质量–阻尼–弹簧的多维方向的导纳力控制装配方法。最后,选取圆形轴孔开展实际装配实验,结果表明所提出的方法能够实现机器人柔顺插孔,达到了预期效果。

Aiming at the problem of excessive contact force and damage to the workpiece caused by jamming or wedge phenomenon encountered in the peg-in-hole assembly process,a robot flexible assembly system based on admittance force control is proposed.The peg-in-hole assembly process is divided into the search phase and the adjustment insertion phase.Firstly,a search strategy based on Archimedes spiral is proposed in the search stage.Secondly,a admittance force control assembly method based on the multidimensional direction of equivalent mass-damping-spring is proposed in the adjustment insertion stage.Finally,the circular shaft hole is selected for the actual assembly experiment,and the results show that the proposed method can achieve the robot compliance jack and achieve the expected effect.