With the improvement of intelligent requirements in aerospace manufacturing field,using industrial robots to achieve flexible auxiliary assembly of large components is of great significance for realizing intelligent manufacturing of aerospace vehicles.However,limited by robots'own performance,it is difficult to compensate for physically mechanical coordination during the high-precision assembly of large components.Therefore,a passive compliant device with variable stiffness based on magneto-rheological elastomers was designed at the end of the robot,after conducting simulation and experimental test,the results show that increasing the input current may enhance the stiffness of the device,and the displacement difference of the device under 1 A cur-rent difference is roughly 20％,which can adapted to different processes of the flexible auxiliary assembly.
关键词
磁流变弹性体/被动柔顺装置/变刚度/大部件装配
Key words
Magnetorheological Elastomers(MRE)/passive compliant device/variable stiffness/flexible auxiliary assembly of large components
维普
万方数据