Research On Active Compliance Control Of The Docking Mechanism Of Barrel-type Cabin

With the development of digitalization in the manufacturing industry,automated assembly technology of foreign tube compartments is widely used in assembly fields such as aircraft,rockets and missiles.However,domestic related production is still dominated by traditional manual operation,which has the disadvantages of complicated docking process and excessive contact force between compartments.Aiming at the above problems,In this paper,a sleeve docking mechanism is designed and its trajectory planning and active compliance docking strategy are studied in depth.This article first designs the overall scheme of the assembly system of the cylindrical compartment,analyzes the mechanical structure of the docking mechanism,establishes a suitable coordinate system according to the configuration of the docking mechanism,and analyzes the kinematics of the docking mechanism based on the established coordinate system,and uses Newton Ou Rafa established a dynamic model of the docking mechanism.According to the docking requirements of the cylindrical section,the assembly control system of the cylindrical section was built.Secondly,in order to ensure the stability of the cabin pose adjustment process,the third-order polynomial interpolation and fifth-order polynomial interpolation algorithms are used for trajectory planning for the docking mechanism,and it is clear that the use of third-order polynomials leads to the shortcomings of sudden acceleration at the start and end.The dichotomy method is used to determine the optimal attitude adjustment time,and the trajectory planning simulation of the cabin section is carried out.The results show that the proposed trajectory planning algorithm can effectively improve the stability of the docking mechanism and meet the requirements of stable assembly of the cabin section without impact.Finally,in order to satisfy the compliant docking of the cabins,the impedance control method is adopted to study the assembly system of the cylindrical cabins.The impedance control system is established,the influence of impedance control parameters on the performance of the impedance controller is summarized,and the characteristics of the impedance control system under environmental changes are given.In order to improve the impedance control system’s ability to deal with environmental interference,an adaptive impedance control is designed based on the traditional impedance control and combined with the model reference adaptive control method.The above analysis and research show that,compared with traditional impedance and fuzzy adaptive impedance control,MRAC adaptive impedance control can effectively improve the robustness and stability of the tubular cabin assembly control system.The proposed docking strategy can effectively adjust the contact force of the cabin sections in the docking process.The designed cylindrical cabin assembly system can realize the automatic and flexible docking of the cylindrical cabins and meet the actual docking requirements of the cylindrical cabins.