【摘要】 为提高空间直立桁架单元在轨装配自动化程度,降低人工装配工作量,研究了基于力传感器的机器人双臂柔顺杆件与球节点的装配过程。通过分析桁架杆件与球节点接头的独特结构特点与配合过程,将杆件装配配合过程分为4类工况并建立各工况下多种状态的力学模型。提出利用力传感器的反馈信息对不同工况下杆件安装状态进行判别,进而制定出各状态下相对应的机械臂末端位姿调整策略。通过搭建机器人双臂柔顺杆件装配平台验证了装配策略的有效性。更多还原

【Abstract】 To improve the automation degree of on-orbit assembly of space vertical truss unit and to reduce the workload of manual assembly, the compliant assembly process of dual-arm robot for strut and spherical joint based on force sensor was studied. By analyzing the unique structural characteristics and matching process of truss struts and spherical joints, the assembly and matching process of struts were divided into four types of working conditions and the mechanical models of various states under various working conditions were established. The feedback information of the force sensor was used to judge the strut installation state under different working conditions, and the corresponding pose adjustment strategy of robotic arm under different states were formulated. The effectiveness of the assembly strategy was verified by the constructed robot dual-arm compliant strut assembly platform.更多还原