基于机械手轴孔装配的对中装置设计  

Design of Joint Alignment Device for Peg-in-hole Assembly Based on Robotic Manipulators

作　　者：黄斌 范启东 卢焯昇 张清华 HUANG Bin;FAN Qi-dong;LU Zhuo-sheng;ZHANG Qing-hua(School of Mechatronic Engineering and Automation,Foshan University,Foshan 528225,China)

机构地区：[1]佛山科学技术学院机电工程与自动化学院,佛山528225

出　　处：《内燃机与配件》2021年第24期85-87,共3页Internal Combustion Engine & Parts

基　　金：广东省教育厅特色创新项目:多维跨尺度高速纳米机构的几何非线性耦合动力学建模与分析,课题编号:2021KTSCX118,项目负责人:张清华;广东省自然科学基金项目:基于几何特征的混合自适应分层策略及层间融合机理研究,课题编号:2018A0303130085,项目负责人:黄斌。

摘　　要：机械中的轴孔装配不当,会严重影响轴孔连接和损坏机器。另一方面,机械手广泛被应用到轴孔装配,但轴孔对中定位仍存在困难。利用多传感器可实现轴孔对中,但过多的传感器会影响装配效率。本文提出一种多杆机械手对中机构设计,可实现平面空间的对中找正,而且结构简单。利用机构转化方式进行设计及运动分析,计算其线性对中的范围,并最终通过实例理论验证。Improper joint alignment in machine will seriously affect the peg-in-hole connection and damage the machine.On the other hand,manipulators are widely used in peg-in-hole assembly,however,difficulties still accompanywithjoint alignment in peg-in-hole assembly.Peg-in-hole alignment can be realized by using multiple sensors,but might affect the assembly efficiency.This paper presents a design center alignment mechanism of manipulator based on multi linkage mechanism,which can realize the centering in plane with simple structure.The mechanism is designed and analyzed by mechanism transformation,the range of linear alignment is calculated,and finally verified by example theory.

关 键 词：对中找正 轴孔装配 机械手 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]