摘要
随着我国航天制造领域智能化要求的不断提升,利用工业机器人实现大部件的柔顺辅助装配对实现航天器的智能制造具有重要意义。然而在进行大部件的高精度装配时,机器人易受限于本体性能而难以弥补物理上的机械设计误差。据此,基于磁流变弹性体(Magnetorheological Elastomer,MRE)设计了一种可变刚度的被动柔顺装置置于机器人末端,并对其进行了仿真及实验测试,结果表明,升高通入电流可提高装置刚度,且装置在1 A电流差下的位移差约为20%,适配柔顺辅助装配的不同过程。
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 magnetorheological 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 current difference is roughly 20%,which can adapted to different processes of the flexible auxiliary assembly.
作者
沈烨
贾保国
田辉
田威
刘亮
SHEN Ye;JIA Baoguo;TIAN Hui;TIAN Wei;LIU Liang(Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;Shanghai Aerospace Electronics Technology Research Institute,Shanghai 201109,China;AVIC Xi’an Aircraft Industry Group Company Ltd.,Xi’an 710089,China)
出处
《现代制造工程》
CSCD
北大核心
2024年第9期34-39,共6页
Modern Manufacturing Engineering
基金
国家自然科学基金面上项目(52075256)
国家自然科学基金联合基金重点项目(U22A20204)
江苏省重点研发计划项目(BE2021090)。
关键词
磁流变弹性体
被动柔顺装置
变刚度
大部件装配
Magnetorheological Elastomers(MRE)
passive compliant device
variable stiffness
flexible auxiliary assembly of large components
