基于装配轨迹在线修正的红外LED自动装配系统设计  

Infrared LED Automatic Assembly System Design Based on the Online Correction of Assembly Trajectory

作　　者：范文强 陈宝刚[1] 王志臣[1] 张岩[1] 郭鹏[1,2] FAN Wen-qiang;CHEN Bao-gang;WANG Zhi-chen;ZHANG Yan;GUO Peng(Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China;Graduate University of Chinese Academy of Sciences,Beijing 100039,China)

机构地区：[1]中国科学院长春光学精密机械与物理研究所,长春130033 [2]中国科学院大学,北京100039

出　　处：《组合机床与自动化加工技术》2020年第8期146-150,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金(61605199,61601195)。

摘　　要：红外LED用于光电式成像定位系统的位置信号发生源,要求LED装配位置误差≤0.2mm,但手动无法保证对LED的一次性精确定位装配,因此设计了利用KUKA机械臂实现红外LED高精度自动装配的系统。通过分析工业机械臂自动装配工序的误差源,提出一种基于待装配孔位姿测量的装配轨迹在线修正方法,解决示教在线编程和离线编程轨迹更新的不足。建立三坐标测量机测量与KUKA机械臂运动控制之间的位姿变换和轨迹误差修正数学模型,完成基于装配轨迹在线修正的红外LED自动装配系统软硬件设计,搭建实验装置,通过实验对系统自动装配精度进行验证,实验表明,经过装配轨迹在线修正后红外LED自动装配位置误差由修正前的0.23mm降低到0.09 mm以下,角度误差由修正前的0.27°降低到0.08°以下,实现红外LED正常装配,为基于工业机械臂的高精度自动装配系统设计提供参考。The infrared LED is used as the position signal generator of photoelectric imaging and positioning system,after assembling,the position error of LED is required to be≤0.2mm,however,manual operation cannot guarantee the one-time accurate positioning and assembly of the LED,a high-precision automatic assembly system of infrared LED is designed by using KUKA robot.Based on analyzing the error sources of the automatic assembly process of the industrial robot,an on-line correction method of the assembly trajectory based on the position and orientation measurement of the holes to be assembled is proposed,to solve some problems of online teaching programming and offline programming in updating trajectory.The mathematical model of pose transformation and trajectory error correction between Coordinate Measuring Machine measurement and KUKA robot motion control is established,complete the hardware and software design of the infrared LED automatic assembly system based on the online correction of assembly trajectory,build the experimental device,the accuracy of the infrared LED automatic assembly is verified by the experiment.The experimental results show that the position error of infrared LED automatic assembly is reduced from 0.23mm to below 0.09mm and the angle error is reduced from 0.27°to below 0.08°after on-line correction of assembly trajectory,can realize the normal assembly of the infrared LED,it provides a reference for design of the high-precision automatic assembly system based on the industrial robot.

关 键 词：红外LED 三坐标测量机 KUKA机械臂 待装配孔位姿测量 装配轨迹在线修正 

分 类 号：TH165[机械工程—机械制造及自动化] TG506[金属学及工艺—金属切削加工及机床]