The invention belongs to the technical field of intelligent
assembly, and particularly relates to an active flexible
assembly method for an electronic module, a mechanical arm controls the electronic module to move along a Lissaja curve under the current
contact force, and meanwhile, the descending depth of the electronic module is monitored; when the descending depth of the electronic module changes, judging that the connector on the electronic module is aligned with the
radio frequency interface; inserting the KK connector until the first-stage
assembly is successful under the
curvilinear motion along the Lissaja; and continuing to keep the
pose for downward smooth
insertion until the electronic module under the
pose can reach the set depth of the second stage. Through combination of force-position
hybrid control and
impedance control, smooth control of the whole
insertion process is realized, attitude compliance is improved, and initial
impact is reduced. The Lissajous curve with adjustable amplitude, frequency and phase is adopted for high-density search, the jack position is actively captured, the problem that
insertion cannot be achieved due to visual alignment errors is solved, and the jack center capturing flexibility is enhanced.