轴孔装配作业机器人力控制系统设计  

Design of Force Control System for Peg-in-Hole Assembly Robot

作　　者：张翔 韩建海[1,2] 李向攀 徐恺[1] ZHANG Xiang;HAN Jian-hai;LI Xiang-pan;XU Kai(School of Mechatronics Engineering,Henan University of Science&Technology,He’nan Luoyang 471003,China;Henan Provincial Key Laboratory of Robotics and Intelligent Systems,He’nan Luoyang 471003,China)

机构地区：[1]河南科技大学机械工程学院,河南洛阳471003 [2]河南省机器人与智能系统重点实验室,河南洛阳471003

出　　处：《机械设计与制造》2019年第12期63-66,70,共5页Machinery Design & Manufacture

摘　　要：机器人装配作业是实现自动化生产的基本要求,在智能制造生产线中占有十分重要的地位。文中提出了一种基于力控制的工业机器人装配系统,它由机器人本体、六维力传感器、自主设计的控制系统组成。本系统中利用六维力传感器采集机器人末端受到的外力/力矩,将采集的数据进行滤波、重力补偿处理后,通过导纳控制策略控制机器人关节运动,从而调整机器人末端的姿态,实现轴孔的柔顺自动装配。文中详细阐述了系统的硬件组成原理和基于导纳控制的软件控制策略。以孔轴配合φ25H7/g6的零件为例,进行了实际装配作业试验,试验结果证明,系统能够完成孔轴配合为φ25H7/g6零件的装配作业,达到了预期效果。Roboticassembly meets the basic requirements of the automatic production,and plays a very important role in the intelligent manufacturing line.In this paper,an automatic assembly system based on force feedback control is presented,which consists of an industry robot,a six-axis force sensor,and the self-designed control system.The external force/torque of the robot end effector is acquired by the six-axis force sensor.Then the acquisition data is processed through the filtering algorithm and the gravity compensation method.The robot joint movement is controlled by the admittance control strategy,so that the attitude of the robot end effector is adjusted to realize the flexible automatic peg-in-hole assembly action.The hardware constitution principle and the software designed for the admittance control strategy are elaborated both in detail in this paper.The actual assembly test was carried out by taking the part with the fit allowance of φ25H7/g6 between hole and shaft.The results show that the system can complete the assembly operation of the repetitive part ofφ25H7/g6 effectively and achieve the desired objectives.

关 键 词：工业机器人 力/力矩控制 导纳控制 轴孔装配 

分 类 号：TH16[机械工程—机械制造及自动化]