Key Technology Of Optical Module Compliant Fitting Based On Six-Dimensional Force Sensor

During the construction of a giant device,a large number of optical modules need to be installed in the optical path of the laser beam group.The optical modules has the characteristics of high cost,large size and heavier weight.Due to the narrow space and poor vision in the clean room,the optical module is prone to collision,jamming or even optical module damage when entering the clean room,which seriously affects the quality and efficiency of the optical module installation and calibration.In response to this problem,this article applies the shaft hole assembly theory to the assembly and calibration of the optical module,and proposed a compliant installation and calibration method based on six-dimensional force sensor,which can realize the compliant assembly and calibration of the optical module in an invisible state.The main work of this paper is as follows:First of all,this article analyzes the installation process and functional requirements of the optical module,put forward a compliant installation program based on force sensor,and designed a six-degree-of-freedom installation platform mechanism.Kinematics analysis was carried out using analytical methods,and the correctness of the kinematics model was verified in Adams.Subsequently,the working space of the plane adjustment unit was solved by numerical integration,and the result showed that the plane adjustment unit satisfies the installation and calibration requirements.Secondly,a solution to measure the force of the optical module using a six-dimensional force sensor was proposed.The force and moment measured by the six-dimensional force sensor are modified,the relationship between the contact force and the measured value of the six-dimensional force sensor is deduced,and the assembly and calibration mechanical model of the optical module is established.Then,refer to the assembly process of the circular shaft hole,the process of the optical module entering the clean room is analyzed,and it is divided into four stages:approach phase,contact phase outside the hole,contact phase with chamfered surface,and contact phase inside the hole.The possible contact situations are summarized and classified,the force analysis is carried out on the different contact situations at each stage,the relationship between the optical module pose and the contact force is established,and the pose recognition strategy is proposed.Finally,the pose adjustment strategy in the process of optical module installation and calibration was formulated,and the pose adjustment amount under different contact states was solved.In order to avoid excessive contact force between the optical module and the clean compartment,a position-based impedance control strategy is proposed,and the influence of impedance parameters on the control performance is analyzed.The installation and calibration model of the optical module was established in Adams software,the principle of setting simulation parameters was determined,and the mechanical model and the pose adjustment strategy of different contact states were simulated.The results verified the correctness of the mechanics model and the pose adjustment strategy.