Design And Analysis Of A Composite Compliance Device For Robotic Assembly

In order to realize the robot assembly process,three necessary conditions must be met.One is that the positioning accuracy of the robot itself is high enough,the other is that the robot can automatically detect the position of the assembly target,and the third is that the robot has compliance compensation in the assembly process.This paper conducts research and design work on the issue of installing a passive compliance device on the end effector of a hybrid robot.The device can recognize six-dimensional load force and its own stiffness is adjustable.The main research contents are as follows:(1)Analyze the structural characteristics of the hybrid robot and analyze its kinematics,then use the perturbation method to establish the pose error model of the hybrid robot based on the motion pair and determine the robot's pose error range and the compliance range of the compliance device;(2)Based on the 4-RRR redundant parallel mechanism,a new type of passive compliant device is proposed,and its elastic elements are parametrically designed and simulated to evaluate its performance,and then a three-dimensional model of the compliant device is established;(3)Through the finite element analysis of the compliant device,verify the force and deformation of the compliant device,and then design the strain gauge layout method and measurement circuit for collecting six-dimensional load information;(4)Carry out simulation loading calibration experiment on the compliant device through the finite element software,and process the data to obtain its calibration curve,analyze and compare the sensitivity and nonlinear error of the compliant device in all directions,and use the least square method and neural network at the same time to perform decoupling operations on it and compares the effects of the two decoupling methods.