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A non-rigid body assembly method for robots based on deflection analysis

An assembly method and non-rigid body technology, applied in the direction of manipulators, manufacturing tools, hand-held tools, etc., can solve the problem that the contact force model is not applicable to non-rigid body parts, and achieve the effect of parts assembly

Active Publication Date: 2022-04-08
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0004] In order to overcome the problem that the contact force model in the existing robot assembly method is not suitable for non-rigid body parts, the present invention provides a non-rigid body assembly method for robots based on deflection analysis, using the contact force sense of non-rigid body parts established based on deflection analysis The model can better express the assembly characteristics, and different assembly states correspond to different assembly steps. Finally, the robot is controlled by the inverse kinematics analysis of the robot to complete the assembly task of the non-rigid body parts.

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  • A non-rigid body assembly method for robots based on deflection analysis
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  • A non-rigid body assembly method for robots based on deflection analysis

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[0042] The present invention will be further described below in conjunction with the accompanying drawings.

[0043] refer to Figure 1 to Figure 5 , a non-rigid body assembly method for robots based on deflection analysis, including the following steps:

[0044] Step 1: The shaft hole assembly is divided into three states: single point contact state, two point contact state and plane contact state. Collect force sense data for different contact states, analyze the characteristics of force sense data in different states, and combine machine learning algorithms and static characteristics to establish a non-rigid body assembly contact state recognition model;

[0045] Step 2: Design a non-rigid body contact force model based on deflection analysis for different contact states

[0046] Single point of contact states such as figure 1 and figure 2 shown, where F y , F z is the force on the fixed end of the shaft, M and F are the moment and force equivalent to the center of t...

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Abstract

A non-rigid body assembly method for robots based on deflection analysis. The contact force model proposed based on deflection analysis conforms to the contact deformation characteristics of non-rigid parts during the assembly process, and can better predict the deflection angle θ and offset d of the shaft. x , d y ; Based on the contact state recognition model and the contact force sense model, it can better reflect the current contact state and posture of the part, and is conducive to the rapid realization of part assembly.

Description

technical field [0001] The invention belongs to the field of robot assembly and control, and is applicable to the field of assembly of non-rigid body parts of robots. Specifically, it relates to a non-rigid body assembly method for robots based on deflection analysis. Background technique [0002] In recent years, with the rapid development of the industrial robot industry and related technologies, industrial robots are widely used in various fields such as automatic assembly and manufacturing. In the field of automated assembly, the materials of assembly parts are gradually diversified, and are no longer limited to metal materials with high rigidity and hard texture. Non-rigid materials such as plastics and rubber have also been widely used. Unlike rigid bodies, non-rigid body parts are prone to elastic deformation during assembly contact. Such deformation will lead to inaccurate force feedback information and affect the overall assembly. Therefore, it is necessary to stud...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25B27/00B25J19/00
CPCB25J19/007B25B27/00
Inventor 胥芳沈一丰陈教料张立彬
Owner ZHEJIANG UNIV OF TECH