双机器人协作轴孔装配力柔顺控制技术研究

doi:10.3901/JME.2024.03.020

机械工程学报 ›› 2024, Vol. 60 ›› Issue (3): 28-33.doi: 10.3901/JME.2024.03.020

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双机器人协作轴孔装配力柔顺控制技术研究

王战玺¹, 张益铭², 张邦海¹, 罗子彦¹, 史梦格¹

1. 西北工业大学机电学院西安 710072;
2. 南京电子技术研究所南京 210012

收稿日期:2023-05-08 修回日期:2023-09-08 出版日期:2024-02-05 发布日期:2024-04-28
作者简介:王战玺,男, 1983 年出生,博士,副教授,博士研究生导师。主要研究方向为智能制造装备、机器人应用技术以及仿生机械设计及理论。E-mail:zxwang@nwpu.edu.cn
基金资助:
国家重点研发计划(2018YFB1305700)、国防基础科研计划(JCKY2018607C004)和陕西省科技重大(2019zdzx01-01-02)资助项目。

Influence of Excitation Amplitude and Load on the Characteristics of a Quasi-zero Stiffness Isolator

WANG Zhanxi¹, ZHANG Yiming², ZHANG Banghai¹, LUO Ziyan¹, SHI Mengge¹

1. School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an 710072;
2. Nanjing Institute of Electronic Technology, Nanjing 210012

Received:2023-05-08 Revised:2023-09-08 Online:2024-02-05 Published:2024-04-28

摘要/Abstract

摘要： 轴孔精密装配是加工制造业中常见的装配形式,其完成过程同时存在位置约束和力约束关系,因此采用工业机器人实现轴孔自动装配一直是具有挑战性的热点问题。首先分析了轴孔装配过程插孔阶段的典型的单点接触和双点接触受力模型,并针对不同的接触状态提出了机器人整体力调控策略;其次在基于位置的阻抗模型基础上,建立对环境位置和刚度具有自适应效果的力柔顺控制模型,通过仿真验证了控制模型可以消除力跟踪过程的系统稳态误差;然后建立了主从式双机器人协作轴孔装配模型,并进行轴孔装配仿真实验,在不同的机器人位置和姿态误差下验证双机器人协作装配的力位控制效果;最后搭建主从式双机器人装配实验平台,验证自适应力柔顺控制模型和主从式协作模型的可行性。

关键词: 轴孔装配, 力柔顺控制, 阻抗控制, 主从式协作

Abstract: Precision peg-in-hole assembly is a common form of assembly in the manufacturing industry. There are both position constraints and force constraints in the assembly process. Therefore, the use of industrial robots to achieve automatic assembly of shaft holes has always been a challenging hot issue. Firstly, the typical single-point contact and double-point contact force model of the peg-in-hole assembly process is analyzed, and proposes the overall force control strategy for different contact states. Secondly, based on the position-based impedance model, a force compliance control model with adaptive effect on environmental position and stiffness is established. The simulation results show that the control model can eliminate the steady-state error of the force tracking process. Then, the master-slave dual-robot collaborative model is established, and the peg-in-hole assembly simulation experiment is carried out to verify the force-position control effect of the dual-robot collaborative assembly under different robot position and attitude errors. Finally, a master-slave dual robot assembly experimental platform is built to verify the feasibility of the adaptive force compliance control model and the master-slave cooperative model.

Key words: robot assembly, force compliance control, impedance control, dual-robot cooperation

中图分类号:

TP24

王战玺, 张益铭, 张邦海, 罗子彦, 史梦格. 双机器人协作轴孔装配力柔顺控制技术研究[J]. 机械工程学报, 2024, 60(3): 28-33.

WANG Zhanxi, ZHANG Yiming, ZHANG Banghai, LUO Ziyan, SHI Mengge. Influence of Excitation Amplitude and Load on the Characteristics of a Quasi-zero Stiffness Isolator[J]. Journal of Mechanical Engineering, 2024, 60(3): 28-33.

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双机器人协作轴孔装配力柔顺控制技术研究

Influence of Excitation Amplitude and Load on the Characteristics of a Quasi-zero Stiffness Isolator

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