基于力觉引导的协作机器人轴孔装配方法研究  

Research on Collaborative Robot Peg-in-Hole Assembly Method Based on Force Perception Guidance

作　　者：梁硕 张胜伦 蒋周翔 秦鹏举 LIANG Shuo;ZHANG Shenglun;JIANG Zhouxiang;QIN Pengju(College of Mechanical Electrical Engineering,Beijing Information Science&Technology University,Beijing 100192,China)

机构地区：[1]北京信息科技大学机电工程学院,北京100192

出　　处：《机床与液压》2025年第5期1-7,共7页Machine Tool & Hydraulics

基　　金：国家自然科学基金面上项目(52175452)。

摘　　要：针对传统机器人轴孔装配过程中出现的孔外搜索耗时长和轴孔接触状态辨识复杂的问题,提出一种融合拖动示教的力觉柔顺装配方法。该方法基于协作机器人腕部六维力觉引导,共分为孔外搜索、孔内调姿和插孔3个阶段。孔外搜索粗定位采用力觉引导的拖动示教,精定位采用螺旋搜索法,缩短了孔位搜索时间;孔内机器人的位姿调整使用导纳控制,同时简化轴孔接触状态的识别种类以及算法,增强了识别准确性;在完成位姿调整后,插孔阶段直接依据状态进行辨别并沿着特定方向插入,实现轴孔柔顺装配。实验结果表明:采用拖动示教的粗定位可以有效提高搜孔效率。利用该方法完成了15°斜孔的装配,验证了所提出的轴孔装配方法的可行性及有效性。Aiming at the problem of prolonged external hole search time and complex identification of peg-in-hole contact status in the traditional robotic peg-in-hole assembly process,a force-based complaint assembly method integrating dragging was proposed.The method was based on guidance from six-dimensional force perception at the wrist of collaborative robots,divided into three stages:external hole search,internal pose adjustment inside the hole,and insertion into the hole.External hole searching for coarse positioning utilized force perception-guided drag teaching and a spiral search method for fine positioning,effectively reducing hole locating time.The internal pose adjustment inside the hole employed impedance control,streamlining the identification categories and algorithms for peg-in-hole contact status,which enhanced identification accuracy.Upon completing the positional adjustment,the insertion phase directly proceeded based on the recognized status,guiding the insertion along a specific direction to achieve the flexible assembly.Experimental results demonstrate that using teach pendant drag teaching for coarse positioning significantly enhances the efficiency of hole searching.Moreover,the method is successfully accomplished assembly in 15-degree angled hole,confirming the feasibility and effectiveness of the proposed peg-in-hole assembly method.

关 键 词：力觉引导 轴孔装配 导纳控制 螺旋搜索 协作机器人 

分 类 号：TH165[机械工程—机械制造及自动化]