Influence of Excitation Amplitude and Load on the Characteristics of a Quasi-zero Stiffness Isolator
Precision peg-in-hole assembly is a common form of assembly in the manufacturing industry.There are both position constraints and force constraints in the assembly process.Therefore,the use of industrial robots to achieve automatic assembly of shaft holes has always been a challenging hot issue.Firstly,the typical single-point contact and double-point contact force model of the peg-in-hole assembly process is analyzed,and proposes the overall force control strategy for different contact states.Secondly,based on the position-based impedance model,a force compliance control model with adaptive effect on environmental position and stiffness is established.The simulation results show that the control model can eliminate the steady-state error of the force tracking process.Then,the master-slave dual-robot collaborative model is established,and the peg-in-hole assembly simulation experiment is carried out to verify the force-position control effect of the dual-robot collaborative assembly under different robot position and attitude errors.Finally,a master-slave dual robot assembly experimental platform is built to verify the feasibility of the adaptive force compliance control model and the master-slave cooperative model.
NETL
NSTL
万方数据
维普
