Theory And Experiment Research Of Shaft Hole Assembly Key Technology Based On Six-component Force Sensor

Intelligent robot is the highest requirements for the robot, it is a hot topic and theresearch direction of the robot field in recent years. Examples of the use of robots inmodern industrial production have been numerous. Which account for a large proportionof assembly operations in industrial production, and the shaft hole assembly and assemblyoperations in a variety of typical is the top priority. This article is aimed at industrialproduction shaft hole assembly operations, based on the six-dimensional force sensorpresents an active force control theory to solve the shaft hole assembly operations in keyissues. So as to improve the study of our group has been active compliance control theory,extend the application of the six-dimensional force sensor direction, and our researchgroup independently developed six-component force sensor market-oriented foundation.The details are as follows:First, the theory and key technology of the shaft hole assembly in-depth analysis ofthe key shaft hole assembly that pose adjustment phase before seeking jack and jack holepreparation stage process. Depending on the different stages of the force control algorithmdeveloped to derive the most appropriate control methods, and to develop a fitting solution.Further according to the theory of uniaxial hole assembly, we hand power based biaxialservo mounting holes were analyzed.Secondly, the overall structure of the shaft hole assembly systems analysis and design.Including the identification of the selected actuator force sensing mechanism, theexperimental design of the hardware required for processing.6-PUS/UPS parallel robotswill eventually identified as the subject of the actuator chamber assembly system. Thistopic chamber independently designed and developed in parallel with the overallpretension six-component force sensor as its agency force sense perception. Establish arelationship between the logical structure of the system. Visual C++6.0combinedexperimental software development platform, to achieve the desired function experimentalsystem. The system has a simple and elegant user interface allows easy data acquisitionand processing, and can be full of experimental data analysis and processing of data storage to facilitate late to achieve human-computer exchange of intentions, laid thefoundation for further experimental study of the assembly.Finally, the implementation and the theoretical basis for a variety of methods to findthe hole and make a comparison, so clearly the advantages and disadvantages of eachmethod, applied research and development of pre-assembly systems, to select the mostsuitable control theory of this experiment Axis hole assembly experiments. Summaryanalysis of experimental results, analysis and processing of the experimental data obtainedexperimental results also verify the correctness of the whole system, to solve the keyproblem of the shaft hole assembly.