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

Abstract

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

CLC Number:

TP241.2

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.

Figures/Tables 19

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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

A force-based method for robot hole-searching and assembly

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