Method for comprehensively compensating assembling force and stiffness

Abstract

The invention discloses a method for comprehensively compensating assembling force / stiffness, which is used for precisely assembling a plurality of parts and compensating a position error caused by different assembling force applied to different parts. During assembling work, when an assembled part moves to a preset assembling position along an assembling direction, the actual position of the part is deviated from a preset position due to the assembling force. The method comprises the following steps of: controlling the assembled part to move in a direction opposite to the assembling direction; when actually measured force reaches 0.02 assembling force, stopping moving; calculating system stiffness according to a displacement of a guide rail counter motion and a change value of the assembling force in the moving process; controlling a moving guide rail to move along the assembling direction; measuring the assembling force in the assembling work; and calculating and compensating the position error caused by the assembling force according to the updated system stiffness to ensure that the assembled part reach the actual target position. The invention provides a position compensatingmethod which is easily implemented in actual assembling work, and the method has high capacity of resisting discreteness of the assembling force and can ensure adequate positioning precision.

Description

technical field [0001] The invention relates to an assembly force / stiffness comprehensive compensation method, which belongs to the technical field of precision assembly and is used for the precision assembly of parts. Background technique [0002] In precision assembly, a certain positional accuracy needs to be ensured among multiple assembled parts. In actual assembly, especially in the interference fit assembly process, the assembly force will cause the part clamping mechanism and the driving mechanism to be deformed by force, making the actual position of the part deviate from the ideal preset position, resulting in position error and affecting the assembly accuracy. Due to their manufacturing tolerances, different parts have different assembly forces during assembly, so it is difficult to compensate for the effect of assembly force and improve assembly accuracy. [0003] Usually, in precision assembly operations, the end effector of the assembly system drives the assem...

AI Technical Summary

Problems solved by technology

[0004] To sum up, most of the existing force / position control methods have complex and cumbersome control algorithms, are not practical, and are difficult to apply in actual assembly operations.

Moreover, most of the existing force / position control algorithms are aimed at the operation control of the robot manipulator, which realizes simultaneous tracking control of position and force, and is not suitable for assembly operation systems directly driven by motion guide rails.

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