Six-axis force sensor assembled mechanical hand guise and force control method thereof

Abstract

A six-dimensional force sensor assembly manipulator posture and force control method in the field of electromechanical control technology, the steps are: first step, establish a three-link parallel operation platform: including an upper platform, a lower platform, an adjustment arm, an upper platform and a lower platform. The platform is a flat plate, the upper platform is fixed as a frame, and a six-dimensional force sensor is installed on the lower platform; in the second step, the workpiece posture and assembly force detected by the micro switch and the six-dimensional force sensor are transmitted to the industrial control machine, and the industrial control After being processed by the machine, the control command is sent to the motion control card. The motion command sent by the motion control card is driven by the amplifier to drive the DC motor. During the attitude adjustment of the workpiece, the adjusted position of the boom is fed back to the industrial control machine, and the motion is realized through PID control. In this way, the lengths of the three moving arms of the parallel platform are continuously adjusted according to the output of the six-dimensional force sensor, so as to realize the precise and automatic adjustment of the workpiece assembly posture.

Description

technical field [0001] The invention relates to a control method in the technical field of mechanical engineering, in particular to a control method for attitude and force of a six-dimensional force sensor assembly manipulator. Background technique [0002] During the production process of automobile exhaust purifiers, the assembly size gap between the ceramic core carrier and the metal shell of the purifier is small, and the ceramic core will be broken if there is a slight difference. During the assembly process, the assembly posture needs to be automatically adjusted according to the stress state of the ceramic core carrier. At present, domestic All are assembled manually, and each worker has to assemble thousands of pieces every day. Working for a long time is easy to cause boredom and fatigue, resulting in discord with various products. In other occasions where the size, deformation, and force requirements are relatively strict, in the mechanical automation production, i...

AI Technical Summary

Problems solved by technology

There are the following deficiencies: [1] Attitude adjustment belongs to the traditional adjustment method, which cannot obtain higher precision in principle; [2] There is a cumulative error in attitude adjustment by using a series mechanism

[3] Adopt the rigidity of the series mechanism system itself, resulting in low assembly accuracy of multi-degree-of-freedom

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