Theory And Experiment Research Of Compliance Assemble Based On Six-component Force Sensor

In order to meet the industrial production tasks contacting with the externalenvironment, compliant control technology is proposed. According to the technology,robots with high accuracy force sensor and force feedback control system can make thecontrol flexible. Simultaneously, the efficiency and quality of the production are improvedsignificantly. Based on the force control thoughts, a compliant assembly control system isdeveloped in this paper. By detecting and collecting the feedback information of assemblyforce, the whole assembly process is controlled compliantly and accurately.Firstly, according to the deeply analysis and research of related theory aboutcompliant assembly, the assembly process is discretized into several assembling statescorresponding to different geometry relationship. Based on the screw theory and theprinciple of virtual work, various possible assembly state identifications are deduced.Then the relationship of the pose in assembly process is researched. The relationshipbetween the six-component force and the position and posture deviation of each assemblystate are deduced and analyzed. Furthermore the assembly strategy is worked out.Secondly, by adopting the 6-PUS/UPS parallel robot as an executive mechanism andthe fully pre-stressed double-layer six-component force sensor as force perceptionmechanism respectively, the integrated structure and the logic relationship of thecompliant assembly system are established. Furthermore, in this paper, the object-orientedrequirement of system function is analyzed and the compliant assembly control system isdeveloped on the platform of Visual C++6.0. The functions of data acquisition andprocessing, state displaying, servo control and force feedback are contained in the system.In particular, the part of data acquisition and processing is developed with Visual C++6.0and LabVIEW8.2 respectively and by contrasting the real-time in the two ways, theformer means is chosen in the paper. The part of detecting the outside force and adjustpose deviation and combining with the force feedback control algorithm is lay as thefoundation of the experiment study on the compliant assembly.Finally, with this compliant assembly system, a typical task of compliant assembly, assembly experiment of flexible peg in hole, is carried out. Through the force feedbackcontrol, the deviation between the peg and the hole is modified effectively and the processis completed in a stable, continuous way, without any chocking and jamming phenomenon.Additionally, the experiment data is analyzed and researched in detail. Finally, thecorrectness of the control algorithm is validated and the research represents the feasibilityand effectiveness of the whole compliant assembly system.