Design And Research Of Side-feeding Assemble-calibrating Mechanism Based On Active Compliance

The construction of a project requires the installation of optical components for laser-guided amplification.Whether this series of optical components can be installed safely and directly affects the success of the project.This paper proposes a set of active and flexible assembly mechanism based on the flexible assembly of shaft holes,aiming at the difficult constraints of optical components assembly calibration and the complicated assembly status.According to the compliant docking strategy,the mechanism realizes the compliant docking of the optical components and the clean cabin,and successfully completes the installation and calibration of the optical components.The main research contents of the paper are as follows:First of all,an active compliant mounting mechanism for optical components installation was designed.Through the analysis of the optical components installation process and the difficulties in installation,the functional requirements of the installation and correction mechanism are proposed;according to the function,the idea of force-based active compliance docking is proposed,and the active compliance installation mechanism is designed;through the six-dimensional force sensor The optical components applies force sense monitoring to realize its flexible installation.Secondly,the forward and reverse kinematics of the school-installed mechanism are analyzed to verify the rationality of the mechanism design.The parametric method was used to establish the kinematics model of the active compliant assembly mechanism.The forward and reverse kinematics analysis of the mechanism was completed.The relationship between the position and posture of the optical components and the amount of motion auxiliary driving was established.Verified the correctness of the mechanism of forward and reverse kinematics,and laid the foundation for the follow-up mechanism motion control.Then the Monte Carlo method was used to study and analyze the working space of the organization,which showed the rationality of the design of the organization and the conclusion that the organization could meet the actual needs of the project.Then,the mechanical model of the optical components in the process of active compliance installation is established.Through the analysis of the assembly process of the optical components,the compliant space of the optical components is obtained,and the contact force between the optical components and the clean room is calculated according to the measurement value of the six-dimensional force sensor,and the mechanical model of the compliant assembly of the optical components is established.The posture determination and adjustment laid the foundation.Finally,the strategy of optical components position judgment and compliance adjustment is derived.By analyzing the possible contact and stress analysis between the optical components and the clean room during the installation and calibration process,the relationship between the position and posture of the optical components and the measured value of the six-dimensional force sensor is established,and the judgment method of the relative position of the optical components and the clean room is summarized,Deducing the relationship between the assembly force and torque and geometric constraint relationship when the optical components "stuck" and "wedge",and based on the sixdimensional force sensor information,the optical components posture adjustment strategy was deduced to guide the mechanism assembly and calibration Finally,ADAMS was used to simulate and analyze the optical components’ s compliant installation process,and the correctness of the optical components’ s posture judgment and posture adjustment was verified.