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

Abstract

The invention relates to a pose and force control method for a six-dimension force sensor assembly mechanical hand, belonging to the electromechanical control technical field. Steps are as follows: step 1: an operating platform of three-linkage rod in parallel is set up, which comprises an upper platform, a lower platform and adjusting actuator arms. The upper platform and the lower platform are flat boards, the upper platform is fixed as a rack and the lower platform is provided with a six-dimension force sensor; step 2: the poses and assembly force of a micro switch and workpieces tested by a six-dimension force sensor is transmitted to an industrial controlling machine which processes and transfers the poses and assembly force to a control command and sends the control command to a motion control card. Motion command from the motion control card drives a DC motor via an amplifier. During the adjustment of the poses of the workpieces, the adjusting positions of the actuator arms are fed back to the industrial controlling machine and realize the precise control of the actions of the actuator arms via PID control. Hence, the length of the three actuator arms of the parallel platform is continuously adjusted according to the output of the six-dimension force sensor so as to realize the precise and automatic adjustment of the assembly poses of the workpieces.

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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