Study on Transmission Law of Impact Force in Human-robot Collaborative Pneumatic Percussive Riveting
In response to the problem that excessive impact force in human-robot collaborative pneumatic percus-sive riveting can damage robot joints,modeling and simulation methods are used to study the transmission relationship of riveting impact force between workers and robots.Combined with impact force dynamics,a collision vibration me-chanical model of Human-Robot-Collaboration was established,and the force calculation formula of workers and ro-bots was derived according to the mechanical model.The simulation model of Human-Robot-Collaboration riveting was established in Simscape environment.Single factor and orthogonal simulation experiments were designed to study the influence of three influencing factors of workers'feed force,bucking bar quality and workers′weight on the impact force distribution.The primary and secondary relations of the three influencing factors were analyzed by range analysis method.The results show that the greater the feed force and the weight of the workers,the greater the impact force of the workers.Increasing the quality of the bucking bar can reduce the impact force of the workers.Among them,the feed force of workers is the main influencing factor affecting the distribution of impact force,the weight of workers is the secondary factor,and the quality of bucking bar has the least impact.
万方数据
维普
