考虑弹性元件的自适应阀门装配方法  

An Adaptive Valve Assembly Method Considering Elastic Components

作　　者：胡蓝青 徐均波 孟金龙 徐世俊 侯建强 胡伟强 HU Lanqing;XU Junbo;MENG Jinlong;XU Shijun;HOU Jianqiang;HU Weiqiang(Shanghai Aerospace Equipment Manufacturer Co.,Ltd.,Shanghai 200245,China)

机构地区：[1]上海航天设备制造总厂有限公司,上海200245

出　　处：《上海航天（中英文）》2023年第S01期252-259,共8页Aerospace Shanghai（Chinese&English）

摘　　要：阀门在装配过程中由于轴孔间存在弹性元件,导致阀门在轴孔配合、旋拧过程中易出现卡阻现象。建立考虑弹簧元件的阀门装配力学模型,并对弹簧元件的影响进行分析。采用一种基于间接自适应控制的阀门自动化装配方法,通过末端力信息对期望位置进行自适应调节,以实现对期望力的跟踪。该方法对不同阀门弹性元件有较好的适应能力。对安装2种不同刚度弹簧元件的阀门在一定初始位姿下进行装配仿真,结果表明:与传统的固定阻抗参数方法相比,该方法对装配角度、弹簧刚度有较好的适应性,满足阀门自动化装配要求。In the process of a valve assembly,due to the elastic components between the shaft and the holes,the valve can easily be jammed in the process of peg-in-hole matching and twisting.In this paper,a dynamic model of valve assembly considering elastic components was established,and the influences of elastic components were analyzed.An automatic valve assembly method based on an adaptive control algorithm was used.To track the expected force,the expected position was adjusted adaptively by the information of the end force,This method performs better adaptability to different elastic components of valves.In this paper,the valves installed with two kinds of springs with different stiffness were simulated under one certain initial pose.The results show that compared with the traditional method of fixed impedance parameters,the proposed method has better adaptability to the initial pose and spring stiffness and meets the requirements of the automatic valve assembly.

关 键 词：轴孔装配 力/位混合控制 柔顺控制 机器人装配 

分 类 号：V465[航空宇航科学与技术—航空宇航制造工程]