基于导纳控制的薄壁变形套筒柔顺装配方法  

Compliant Assembly Method of Deformed Thin-Wall Sleeve Based on Admittance Control

作　　者：赵英杰[1] 刘正海 赵经济 刘冬[2] ZHAO Yingjie;LIU Zhenghai;ZHAO Jingji;LIU Dong(China Airborne Missile Academy,Luoyang 471009,China;School of Mechanical Engineering,Dalian University of Technology,Dalian 116024,China)

机构地区：[1]中国空空导弹研究院,洛阳471009 [2]大连理工大学机械工程学院,大连116024

出　　处：《组合机床与自动化加工技术》2023年第6期141-144,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家国防科工局基础科研重点项目(JCKY2019205B012)。

摘　　要：针对薄壁套筒本身在装配过程中易变形而导致装配困难的问题,提出一种多维方向的离散化导纳力控制装配方法。首先,描述薄壁套筒工件装配过程中因变形产生的问题;然后,利用力变换方法将力和力矩信息转换到工作坐标系上,采用螺旋搜索方式进行套筒预插入,通过导纳控制方法建立“接触力-机器人动作”关系模型;最后,在薄壁套筒对接装配实验平台上进行测试验证。结果表明,机器人采用导纳力控制的方法可以获得末端姿态调整的策略,完成薄壁变形套筒装配,不同位置、角度偏差下的套筒平均装配成功率接近90%。Aiming at the problem of assembly difficulty caused by the deformability of thin-wall sleeve in the assembly process.A multi-dimensional discrete admittance-control assembly method is adopted.Firstly,the problems caused by deformation of thin-wall sleeve workpiece in the assembly process are described.Then,the force and torque information are converted to the working coordinate system by force transformation,the sleeve pre-insertion is carried out by spiral search method,and the"contact force-robot action"relationship model is established by admittance control method.Finally,the method is tested and verified on a thin-wall sleeve assembly platform.The results shows that the robot can obtain the end attitude adjustment strategy by admittance control.Assembly of deformed thin-wall sleeve is completed.The average success rate of sleeve assembly under different positions and angle deviations can be reached to 90%.

关 键 词：导纳控制 柔顺装配 薄壁变形套筒 螺旋搜索 

分 类 号：TH16[机械工程—机械制造及自动化] TG502[金属学及工艺—金属切削加工及机床]