一种基于力觉的机器人对孔装配方法

doi:10.6040/j.issn.1672-3961.0.2018.396

摘要/Abstract

摘要：

针对带电作业机器人更换金属氧化物避雷器过程中精确对孔装配的需要,提出一种基于力觉自主控制机器人在绝缘横担上寻孔并装配避雷器的方法。控制过程中针对避雷器下端头的特殊形状以及电杆绝缘横担的作业场景,在机器人末端加装力觉传感器,将转换后的力作为被控量,设计一种由触担、寻孔、渐入和插入四个过程构成的对孔装配策略,使机器人能够将避雷器的下端头准确地插入横担上的安装孔。试验结果验证了所提方法的有效性。

关键词: 力传感器, 带电作业机器人, 装配, 机械臂, D-H参数法, 寻孔策略

Abstract:

In the process of replacing arresters for live working robots, a method based on force control for robot to search hole on insulated cross-arms and assembling arresters was proposed for accurate assembly. In the control process, a force sensor was installed at the end of the robot for the special shape of the arrester's lower end and the scene of the pole cross arm, and the converted force was used as the controlled amount. A peg-in-hole assembly strategy was designed, which included four processes of touching, hunting, evolving and inserting. The robot could insert the arrester's lower end into the mounting hole on the cross arm accurately. The experimental results verified the effectiveness of the proposed method.

Key words: force sensor, live work robot, assembly work, manipulator, D-H parameter method, hole-finding strategy

中图分类号:

TP241.2

吴禹均,吴巍,郭毓,郭健. 一种基于力觉的机器人对孔装配方法[J]. 山东大学学报 (工学版), 2019, 49(5): 119-126.

Yujun WU,Wei WU,Yu GUO,Jian GUO. A force-based method for robot hole-searching and assembly[J]. Journal of Shandong University(Engineering Science), 2019, 49(5): 119-126.

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自由度	质量/kg	负载/N	延伸/mm	关节范围/(°)	最大关节速度/((°)·s^-1)
6	18.4	49	850	±360	30

关节序号i	α_i/(°)	a_i/mm	d_i/mm	θ_i/(°)	θ_imin/(°)	θ_imax/(°)
1	90	0	89.16	θ₁	-360	360
2	0	-425.00	0	θ₂	-360	360
3	0	392.25	0	θ₃	-360	360
4	90	0	109.15	θ₄	-360	360
5	-90	0	94.65	θ₅	-360	360
6	0	0	82.30	θ₆	-360	360

传感器型号	外径/mm	内径/mm	厚度/mm	质量/g	测量力范围/N	测量力矩范围/(N·m)
FT-300	6	18.4	5	850	±360	0~30

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