摘要
传统的末端执行器需要复杂的顺应机构、控制策略和力感应来进行装配任务,通常成本高,且难以拾取航空插座零件这类小物体。针对上述问题设计了一款低成本解决方案的末端执行器,实现内夹式和外撑式2种拾取策略。首先通过夹持指的几何约束和重力的优势来拾取、放置小薄片状或空心圆柱状等不同结构类型的零件,再搭建实验装配系统并进行实物装配验证。实验结果表明:末端执行器能够对不同尺寸零件完成拾取和放置,能够在系统中完成装配任务,且同轴度误差均小于0.3 mm。
Assembly tasks of conventional end-effectors are generally performed by complex compliance mechanisms, sophisticated control strategies and force sensing.The process is often costly, coupled with difficulty in picking up such small parts as aviation sockets. A low-cost solution end-effector was designed for the above problem, implementing two pick-up strategies: inward-clamped and outward-supported. First, the geometric constraints of the gripping fingers and the advantages of gravity were used to pick up and place different structural types of parts such as small sheet-like or hollow cylindrical parts, and then the experimental assembly system is built and physically assembled for verification. The experimental results show that the end-effector can complete the tasks of picking up and placing parts with different sizes, with the assembly task finished in the system, and the coaxiality error is less than 0.3 mm.
作者
管声启
于资江
王盈余
郝振虎
刘懂懂
王静国
师红宇
GUAN Shengqi;YU Zijiang;WANG Yingyu;HAO Zhenhu;LIU Dongdong;WANG Jingguo;SHI Hongyu(School of Mechanical and Electronic Engineering,Xi’an Polytechnic University,Xi’an 710048,China;School of Computer Science,Xi’an Polytechnic University,Xi’an 710048,China)
出处
《西安工程大学学报》
CAS
2022年第6期93-99,共7页
Journal of Xi’an Polytechnic University
基金
陕西省重点研发计划项目(2022GY-058)
西安市创新能力强基计划-人工智能技术攻关项目(21RGZN0021)。
关键词
末端执行器
装配系统
精准拾取
航空插座
end-effector
assembly system
precision pick-up
aviation socket
