Research On Auto Electric Seat Adjustment Button Toggle Detection Based On Mechanical Arm

Before leaving the factory,the car electric seat needs to push the button switch on the seat to test the seat function.In order to improve the detection efficiency and reduce the missing rate of human factors,this paper takes the electric seat of a certain model as the research object and aims to meet the detection needs of the factory.The electric seat pushbutton detection system is designed,which is of great significance for the factory to improve the level of automatic detection and reduce the detection cost.In the mechanical configuration part of the detection system,in order to solve the problem of two joint motors being independent and coaxial caused by motor undersetting,a dual-motor coaxial structure is designed to meet the motion requirements.A three-finger toggle manipulator is designed to solve the problem that the button can be toggle in plane and vertical direction and the toggle error can be compensated.Chain drive is adopted to provide power for the rotation of the distal joint.In order to deal with the problem that the toggle manipulator needs to move in accordance with a specific trajectory,the linear and circular arc trajectory planning of the manipulator in Cartesian space is carried out in this paper to provide theoretical support for the manipulator to move along the trajectory.In order to solve the problem of mutual damage caused by hard contact between manipulator and external environment due to position error,impedance/admittance control principle was used to complete the design of traditional admittance controller and adaptive admittance controller of detection system,so as to realize the compliance between manipulator and external environment.The influence of parameters in traditional admittance control on the control system is analyzed by control variable method and the admittance control parameters in this paper are determined.PD control based on model compensation is adopted for inner loop control.The adaptive admittance control is compared with the traditional admittance control,and the reliability of the adaptive admittance control is determined by simulation.Finally,this paper sets up the physical detection system,designs the communication protocols of the upper and lower machines,carries out the motor acceleration curve planning based on Sigmoid function,completes the motion simulation of the straight line and circular arc trajectory,and uses the toggle experiment to verify the feasibility of the designed detection system to control the seat motion by toggle the seat button.Verify the advantages of the control algorithm;Verify the rationality of trajectory planning.