【摘要】 位姿偏差是影响机器人轴孔装配系统精度、效率、一致性的重要因素,解决方法之一是设计被动柔顺装置,使装配系统具有柔顺性。设计了一种基于柔性铰链的柔性机构,铰链以3-RRR并联形式联结动/静平台。柔性机构降低了末端执行器x-O-y平面的刚度,使其在轴孔接触阶段受到接触力影响后,能够快速将装配轴/孔调整到良好的装配姿态,辅助系统完成装配作业。实验结果表明,在目标零件轴孔中心距相差1.2 mm范围内,均能成功装配。更多还原

【Abstract】 Position deviation is an important factor affects the accuracy,efficiency and consistency for automatic assembly system of hole-peg parts. One efficient method to solve the problem is to design and manufacture assembly system based on passive flexible mechanism. This paper presents a new compliant mechanism whose prototype is 3-RRR parallel mechanism based on flexure hinges. The stiffness of robotic actuator on x-O-y plane could be reduced by compliant mechanism,while the stiffness of Z-axis remains. The passive flexible mechanism could compensates the position deviation at the contact phase and controls the position to assist the assemble process.Experiments and analysis shows this system could accomplish assembly work when position deviation is under 1.2 mm.更多还原