| With the continuous improvement of robot assembly technology, although the robot has achieved the servo control, but the control accuracy is still insufficient to make the assembly efficiency is not high, and to achieve intelligent assembly, collaborative assembly technology breakthrough is "Made in China 2025M proposed Specific requirements, so how to achieve fast and efficient intelligent assembly is imminent. This paper mainly focuses on the research of the peg-hole assembly strategy of the macro-micro robot based on the force feedback, which lays the foundation for the ultimate servo control of the macro-micro assembly robot.1. Forward and inverse kinematics analysis of parallel micro-platform. Firstly, the position and attitude description of the parallel micro-platform are determined. According to the vector relation of the dynamic and static platform, the kinematics inverse equation of the parallel robot is deduced. The inverse solution of the micro-platform is solved by the z-y-x Euler angle method. Then, The long-iterative method is used to solve the positive solution of the parallel robot position, and the positive and negative solutions of the parallel micro- platform areverified by examples. It is found that the use of the rod length iteration method to solve the positive position of the mechanism can make the drive rod of the mechanism close to the known rod length, thus proving the feasibility and effectiveness of this method.2. Theoretical study of peg-hole assembly. Firstly, the process of shaft hole fitting is analyzed, and the contact state of the shaft hole is divided. The mechanical analysis and geometrical analysis of the three-point contact model of the shaft hole are carried out. Then,based on the spiral theory and virtual work principle, And the relationship between the force sensor coordinate system and the shaft hole contact coordinate system is obtained. Finally, the peg-hole assembly program is given.3. Terminal actuator path planning based on improved artificial potential field method. In order to make the end effector of the assembly robot have good flexibility and the objective function of the artificial artificial field method is improved. In this paper, the function of the repulsive field is improved, and the path planning simulation platform of the robot end effector is established on the Visual Studio 2010 platform based on the improved artificial potential field method.The path planning simulation of the robot single obstacle and multi-obstacle environment is carried out experiments show the effectiveness and practicability of the improved artificial potential field method.4. Strategy planning and kinematics simulation of pose adjustment strategy at the end of micro-platform. Firstly, the six components of the assembly force vector in the sensor are obtained by analyzing the force information fed back by the six-dimensional force sensor, and the formula of the pose solution is deduced. Then, based on the decoupled six-dimensional force information, Finally, through the analysis of the structure of the parallel micro-platform,the physical model of the micro-platform is established based on Matlab/SimMechanics, and the motion trajectory of the micro-platform with simulink is realized by using the parameterization and modular design. The results show that the deviation between the expected length and the actual length is 0.04 mm and the error is 2.67%.5. Micro-platform motion trajectory control experiment. Firstly, the experimental platform of parallel micro-platform motion control based on the GoogolTech's motion controller is set up.Secondly, the motion control experiment of the micro-platform planning trajectory is completed by the point-control mode and the state each axis is seted, combined with the kinematic analysis of the micro-platform.Finally, the experimental results show that the motion sequence of the parallel micro-platform is consistent with the planning trajectory, and the validity of the trajectory control for the parallel micro-platform is verified. |
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