基于力信息的机器人主动柔顺装配研究

【作者】 朱阳光；

【导师】 周君； 施祖康；

【作者基本信息】 南京理工大学 ， 机械制造及其自动化， 2003， 硕士

【摘要】 随着机器人技术的迅速发展，越来越多的机器人服务在工厂的各条生产线上，其中从事装配作业的机器人占了大部分。应用机器人进行精密装配作业时，装配对象需要精确定位，但机器人与周边其它装置难免产生对中误差，这必将影响和阻碍装配作业的顺利完成。为此，本文就典型的轴孔装配作业进行了基于装配力信息的主动柔顺装配方法的初步研究。 文中建立了轴孔装配的力学模型，导出了装配侧向误差与装配作用力及力矩间的关系。在此基础上提出了基于力传感器信息进行搜孔的方法；建立了传感器、端部执行器与环境的物理模型，并对该力控制系统的稳定性进行了分析。更多还原

【Abstract】 With the rapid development of robotics, more and more robots are running at the factories, most of which are taking on assembly tasks. When a robot is working on precision assembly, the tools need to be located accurately. But the robot and other appliances around have inevitable lateral error which will block the assembly. So the dissertation makes a preliminary research on robotic active compliance assembly about typical peg-hole mating based on assembly force.In the dissertation, the force model of peg-hole mating is established and the relation between the lateral error and force/torque is derived. The plan to hole searching based on wrist sensor is proposed. Physical model of sensor, tool tail-end and the environment is made. The stability of the model is also analyzed.更多还原