Design Study And Application Of Passive Flexibly Assemble System Based On Flexure Hinge

Robot flexible assembly system is one of the key technologies in the field of intelligent manufacturing.On assembly line,robot system with high flexibility could replace human in contact operation.Hole-peg parts assembly is a regularly operation while requiring assemble system of high flexibility and precision.This article presents the design study and optimization of a passive flexible mechanism based on flexible hinge in the application of hole-peg assembly system with robot.The compliant mechanism consist of moving platform,static platform and flexure hinges.Flexure hinges connect two platforms with the prototype of 3-RRR parallel mechanism.The passive flexible mechanism could compensates the position deviation at the contact phase and controls the position to assist the assemble process.Chapter ? introduces the recently research progress and tendency in flexible assembly.Chapter ? analyzes the 2-dimension model of hole-peg assembly,calculates the relationship and functional relation between parameters and assembly force,and get some basic solution.Chapter III finishes the modeling,analyzing and parameter designing of the mechanisms,designs and optimizes the clamping mechanism based on parallelogram links.Chapter ? shows the results of finite element analysis.Then we compare the FEA results with modeling results,verifying the validity of simplification model.Then we build the experiment device and finish the hole-peg assembly experiment.Results show that the flexible mechanism designed in this article could accomplish assembly work.