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Robot active force compliance pinhole butt joint assembly method based on Hertz elasticity model

An elastic model and assembly method technology, which is applied in the directions of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as the inability to meet the requirements of safe and stable assembly, and achieve the effect of improving force compliance control, improving assembly quality and assembly efficiency, and improving force. The effect of softness

Active Publication Date: 2018-01-09
BEIJING INST OF SPACECRAFT ENVIRONMENT ENG
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Problems solved by technology

[0005] In order to solve the above technical problems, the purpose of the present invention is to provide a robot active force compliant pin-hole butt joint assembly method based on the Hertzian elastic model, to solve the problem that the traditional force compliant control effect cannot be satisfied when the robot is installing large-scale equipment and decks of spacecraft. Issues requiring safe and smooth assembly

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  • Robot active force compliance pinhole butt joint assembly method based on Hertz elasticity model
  • Robot active force compliance pinhole butt joint assembly method based on Hertz elasticity model
  • Robot active force compliance pinhole butt joint assembly method based on Hertz elasticity model

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[0030] The present invention will be described in further detail below in conjunction with the accompanying drawings, but this is only exemplary and not intended to limit the protection scope of the present invention.

[0031] Such as figure 1 As shown, in the docking assembly method of the present invention, the shape of the docking pin is a combination of a cylinder and a conical assembly circumscribed on the end surface of the cylinder. The pin size is determined according to the specification of the mounting fastener for the equipment being installed.

[0032] Such as figure 2 As shown, the force-compliant assembly system implementing the method of the present invention includes an industrial robot 1, a control computer 2, a six-dimensional force sensor 3, a transfer tool 4, an installed device 5, and a docking mechanism (including a docking hole 6 and a docking pin 7), The docking pin is installed on the docking plane 8 in advance. Among them, the industrial robot (in...

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Abstract

The invention discloses a robot active force compliance pinhole butt joint assembly method based on a Hertz elasticity model. According to the method, automatic butt joint of robot active force compliance pinholes is conducted according to a force compliance control manner, and under the guidance of a guide pinhole, a robot makes the mounting face of mounted equipment or a deck attached to the mounted face. The improved force compliance control manner is characterized in that control is conducted by additionally arranging an elastic contact mathematical model and a friction model based on an impedance force compliance control manner. According to the robot active force compliance pinhole butt joint assembly method, by additionally arranging the mathematical model, force sensor informationand robot tail end posture information are corrected, the system feedback quantity fed back to a controller is more precise, and the force compliance mounting problem of large instrument equipment anddecks in spacecraft assembly is solved, and the assembly quality and assembly efficiency are improved.

Description

technical field [0001] The invention belongs to the technical field of spacecraft automatic assembly, and in particular relates to a robot active force compliant pin-hole butt joint assembly method based on the Hertz elastic model. Background technique [0002] In the general assembly of spacecraft, the installation of large-scale instruments and equipment and decks has become more and more dependent on heavy-duty industrial robots. During their work, the end is required to have force compliance capabilities, so as to ensure the safety of equipment, decks, and star structures. [0003] At present, the automatic installation of large-scale instruments and equipment and decks on the docking structure generally adopts positioning pins and positioning holes on the two mounting surfaces respectively, and uses the positioning method of pins and holes, and adopts the force compliance control method (impedance control or its Simplified form), the control effect of this method is not...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
Inventor 董悫万毕乐易旺民卫月娥杜瑞兆杨春生徐波涛张立建程越李庆辉樊志国孟少华胡瑞钦
Owner BEIJING INST OF SPACECRAFT ENVIRONMENT ENG
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