基于力柔顺控制的断路器轴孔零件装配算法  

Assembly algorithm for circuit breaker shaft hole parts based on force compliance control

作　　者：丁雨 舒亮[1,2] 周浩 包志舟 林振权 Ding Yu;Shu Liang;Zhou Hao;Bao Zhizhou;Lin Zhenquan(Low Voltage Apparatus Technology Research Center of Zhejiang,Wenzhou University,Wenzhou 325207,China;Technology Institute of Wenzhou University in Yueqing,Wenzhou University,Wenzhou 325606,China;Zhejiang Renmin Electric Appliance Co.,Ltd.,Wenzhou 325035,China)

机构地区：[1]温州大学浙江省低压电器工程技术研究中心,温州325207 [2]温州大学乐清工业研究院,温州325606 [3]浙江人民电器有限公司,温州325035

出　　处：《电子测量技术》2024年第7期69-79,共11页Electronic Measurement Technology

基　　金：浙江省重点研发计划项目(2021C01046);温州市重大科技专项(ZG2021026);温州市新能源智能电器创新联合体项目(ZG2022002);温州市重大科技创新攻关项目(ZZG2023011)资助。

摘　　要：针对双臂机器人断路器轴孔零件装配操作任务,研究了一种两阶段轴孔装配轨迹规划策略,为了提高双臂协调装配作业的柔顺性和精确性,提出一种FAIC控制算法,实现精确的力跟踪。首先建立轴和孔接触状态力学模型,开展轴孔装配机理研究,根据双臂末端受力平衡,提出了一种操作空间轴孔装配的双臂运动轨迹规划方法。基于阻抗控制实现柔顺轴孔装配,采用模糊控制器在线辨识阻抗控制最优参数,提高装配操作质量。实验结果表明,在双臂协作轴孔装配策略结合FAIC算法作用下,轴孔间接触力控制在3 N以内,装配效率提高36.5%。综上所述,本文提出的FAIC算法与装配策略在双臂协同断路器装配作业中有效地缩短磁组件的装配时间,提高装配效率与精度。A two-stage shaft hole assembly trajectory planning strategy was studied for the assembly operation task of circuit breaker shaft hole parts in dual arm robots.In order to improve the flexibility and accuracy of coordinated assembly operations with both arms,a FAIC control algorithm was proposed to achieve accurate force tracking.Firstly,a mechanical model of the contact state between the shaft and the hole is established,and the mechanism of shaft hole assembly is studied.Based on the force balance at the end of the two arms,a dual arm motion trajectory planning method for operating space shaft hole assembly is proposed.Based on impedance control,flexible shaft hole assembly is achieved,and a fuzzy controller is used to identify the optimal impedance control parameters online,improving the quality of assembly operations.The experimental results show that under the action of the dual arm collaborative shaft hole assembly strategy combined with the FAIC algorithm,the indirect contact force of the shaft hole is controlled within 3N,and the assembly efficiency is improved by 36.5%.In summary,the FAIC algorithm and assembly strategy proposed in this article effectively shorten the assembly time of magnetic components,improve assembly efficiency and accuracy in the assembly operation of dual arm collaborative circuit breakers.

关 键 词：轴孔装配 柔顺控制 双臂机器人 断路器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TN05[自动化与计算机技术—控制科学与工程]