机器人双轴孔装配策略建立与分析

Establishment and Analysis of Robot Dual Peg-in-hole Assembly Strategy

在分析双轴孔装配卡阻以及装配可行区间的基础上提出了一种双轴孔同时装配的方法,建立了双轴孔装配策略。将双轴孔装配分为空间寻孔与双轴入孔过程,重点对双轴入孔过程进行分析,当机器人末端的双轴零件接触到双孔零件后,进入示教模式,根据所提到的方法进行多次装配,采用动态时间规整算法控制装配中产生数据的尺度统一,采用高斯混合模型和回归对其进行拟合回归,得到适合装配的机器人力/力矩信息。通过导纳控制器控制机器人根据此人工先验知识对理论轨迹进行补偿调整,搭建实验平台进行双轴孔装配实验,实验表明,该策略能够准确地完成双轴孔装配操作,可为双轴孔装配提供一定的技术指导。

According to analyzing the obstruction in the assembly of dual peg-in-hole and assembly feasible range,a method for simultaneous assembly of dual peg-in-hole is proposed and a assembly strategy is established.Divide the assembly into spatial drilling and dual peg-in-hole processes,with a focus on analyzing dual peg-in-hole,after the pegs at the end of the robot contacts the holes,it enters teaching mode.assemble multiple times based on the mentioned method,control the scale unification of data using DTW Algorithm,then gaussian mixture model and regression are used to fit and regress the data generated during the assembly process to obtain suitable robot force/torque information for assembly.The robot is controlled by the admittance controller to compensate and adjust the theoretical trajectory according to this artificial prior knowledge,and a dual peg-in-hole assembly experiment is conducted.The experiment shows that the assembly strategy can accurately complete the assembly operation,which can provide certain technical guidance for the assembly of dual peg-in-hole.