Design And Control Of The Assembly Robot Micro Operation Platform Based On Position And Force Drived

Assembly robot is the ideal means of a high quality,flexibility and efficiency to complete automatic assembly is the key equipment of flexible assembly automation system.How to make the robot to achieve rapid,precise,flexible and intelligent assembly is one of the unsolved problems.The construction of macro-micro assembly robot is an effective approach to solve the problem.The paper focuses on the macro micro assembly robot system,conducted the research on micro platform structure design,kinematics analysis and with force and torque feedback micro platform control system.Firstly,this paper compares the existing scheme of building macro-micro assembly robot.According to the purpose of the research and the function requirements of assembly machines,the composite types of macro-micro assembly robot are selected the series parallel macro-micro assembly robot.In the integration of the existing research conditions,this paper proposes a specific construction scheme of series parallel macro-micro robot system and determines the working performance requirements and installation conditions of the micro platform and specific configuration of 6-PSS parallel robot.Secondly,in order to build a macro micro assembly robot hardware system,including the mechanical system and electrical system,we need to design the specific structure type of micro platform and process it into real.At the same time,we need to design the electrical system of micro platform.According to the parameters requirements of the micro platform based on the construction scheme of the macro-micro assembly robot,the driving method and model,dynamic platform,static platform and transmission parts of the 6-PSS parallel micro platform is designed and selected.And structural strength of the design of the components is analyzed by the finite element analysis software ANSYS.We can get the specific three-dimensional model of micro platform finally and designed the electrical system of micro platform on the basis the selected drive.Thirdly,this paper studies the kinematics of the 6-PSS parallel micro platform.The micro platform is determined as a six degree of freedom parallel robot with Grubler-Kutzbach freedom calculation formula.The author calculates the inverse solution of the micro platform with Z-y-x Euler angle rule and calculated the positive solutions of the micro platform with the least square method.The author presentes a fast search method in cylindrical coordinates and searches out the reachable workspace and the contained orientation workspace of the micro platform.This paper verifies the correctness of the kinematics theory of the micro platform with comparing the ADAMS simulation data and MATLAB theoretical calculation data.Finally,this paper analyzes the signal of six axis force and torque sensor.Through analyze the practical significance of six axis force and torque sensor feedback parameters in the assembly process,this paper calculates the six component of the assembly force and derives the pose solution formula of the assembly force vector in the sensor coordinate system.This paper verifies the correctness of the kinematics theory of the micro platform and the posture modeling theory of the assembly force with simulation and experiment.At the same time,this paper verifies the correctness of the posture modeling theory of the assembly force with the signal acquisition experiment of the six axis force and torque sensor.The author builts the basic framework of micro platform control system with force and torque feedback.