基于分布式三维力传感器的装配接触力测量方法  

Assembly contact force measurement method based on distributed threedimensional force sensor

作　　者：褚文敏 周蒯 滕利臣 Chu Wenmin;Zhou Kuai;Teng Lichen(School of Aeronautical Engineering,Nanjing Vocational University of Industry Technology,Nanjing 210023,China;Beijing Research Institute of Automation for Machinery Industry Co.,Ltd.,Beijing 100032,China)

机构地区：[1]南京工业职业技术大学航空工程学院,南京210023 [2]北京机械工业自动化研究所有限公司,北京100032

出　　处：《仪器仪表学报》2024年第11期30-41,共12页Chinese Journal of Scientific Instrument

基　　金：江苏省高等学校自然科学研究项目(24KJB460020);南京工业职业技术大学引进人才科研启动基金项目(YK23-03-02)资助。

摘　　要：接触力精确测量是实现结构精准柔顺装配的基础和前提,针对冗余驱动装配定位机构的柔顺控制需求提出了基于分布式三维力传感器的装配接触力测量方法。首先对装配定位机构进行运动学建模,在此基础上提出了基于动力学模型的装配接触力计算方法;接着,针对结构柔顺装配过程中的重力补偿问题,提出了基于多姿态的末端重心自标定方法并采用最小二乘法进行重心求解;然后采用数值仿真方法分析了传感器测量误差、安装角度偏差以及重心校准策略对装配接触力测量精度的影响;最后在实验环境下进行结构装配接触力动态测量实验。实验结果表明,相比采用六维力传感器,分布式三维力传感器测得的装配接触力的标准差降低了41.6%,装配力矩的标准差下降了47.1%。Accurate measurement of contact force is the foundation and prerequisite for achieving active compliant assembly of components,this article proposes an assembly contact force measurement method of large components based on distributed 3D force sensors for the precise and compliant control requirements of redundant drive parallel mechanisms.First,the kinematic model of assembly positioning mechanisms is Built,and an assembly contact force calculation method based on dynamic model is proposed.Subsequently,aiming at the problem of gravity compensation during the compliant assembly process of components,a centroid self-calibration method of the terminal based on multi attitude is proposed,and the centroid parameter is solved using the least squares method.Then,numerical simulation methods are used to analyze the measurement errors and installation angle errors of the sensor,as well as the influence of the centroid calibration strategy on the measurement error of assembly contact force.Finally,dynamic assembly contact force measurement experiments of large components are conducted in the laboratory.The experimental results show that compare with the six-dimensional force sensor,the assembly contact force standard deviation measured by distributed three-dimensional force sensors is reduced by 41.6%,and the assembly contact torque standard deviation is reduced by 47.1%.Accurate measurement of contact force is the foundation and prerequisite for achieving active compliant assembly of components.This article proposes an assembly contact force measurement method of large components based on the distributed 3D force sensors for the precise and compliant control requirements of redundant drive parallel mechanisms.First,the kinematic model of assembly positioning mechanisms is formulated.An assembly contact force calculation method based on a dynamic model is proposed.Subsequently,to address the problem of gravity compensation during the compliant assembly process of components,a centroid self-calibration method of the termin

关 键 词：大型结构装配 重心校准 柔顺装配 力测量 

分 类 号：TH166[机械工程—机械制造及自动化]