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位姿偏差是影响机器人轴孔装配系统精度、效率、一致性的重要因素,解决方法之一是设计被动柔顺装置,使装配系统具有柔顺性。设计了一种基于柔性铰链的柔性机构,铰链以3-RRR并联形式联结动/静平台。柔性机构降低了末端执行器x-O-y平面的刚度,使其在轴孔接触阶段受到接触力影响后,能够快速将装配轴/孔调整到良好的装配姿态,辅助系统完成装配作业。实验结果表明,在目标零件轴孔中心距相差1.2 mm范围内,均能成功装配。
Pose deviation is an important factor that affects the precision, efficiency and consistency of the robot’s shaft-hole assembly system. One of the solutions is to design a passive compliant device to make the assembly system flexible. A flexible mechanism based on flexible hinges was designed. The hinges were connected to the dynamic / static platform by 3-RRR parallel connection. The flexible mechanism reduces the stiffness of the x-O-y plane of the end effector, allowing it to quickly adjust the assembly axis / bore to a good fit attitude after being subjected to contact forces during the shaft hole contact phase, assisting the assembly in the assembly process. Experimental results show that the target part shaft hole center distance within a 1.2 mm difference, can be successfully assembled.