【摘要】：在產(chǎn)品生產(chǎn)過(guò)程中,裝配作業(yè)占據(jù)重要地位,直接決定產(chǎn)品生產(chǎn)周期和生產(chǎn)效率。裝配工藝作業(yè)勞動(dòng)量大、任務(wù)重,如何高效開(kāi)展裝配作業(yè)是生產(chǎn)管理、設(shè)備技術(shù)等領(lǐng)域研究的重點(diǎn)。隨著工業(yè)自動(dòng)化技術(shù)的應(yīng)用,一系列搬運(yùn)、焊接、噴涂、裝配等機(jī)器人出現(xiàn)在產(chǎn)品生產(chǎn)的各個(gè)環(huán)節(jié)中。裝配的特殊之處在于工件形狀各異并且需要接觸環(huán)境,孔件配合間隙小,這對(duì)機(jī)器人力位控制技術(shù)和檢測(cè)技術(shù)都提出了嚴(yán)格的要求。目前機(jī)器人裝配生產(chǎn)線上的零件多是形狀規(guī)則、完全對(duì)稱,對(duì)復(fù)雜形狀的裝配對(duì)象研究較少,因此機(jī)器人裝配仍是一個(gè)需要深入研究的領(lǐng)域。本文利用模塊化組合式機(jī)械臂,引入力位控制策略,對(duì)圓—長(zhǎng)方形復(fù)合孔件進(jìn)行裝配技術(shù)的研究。為實(shí)現(xiàn)圓—長(zhǎng)方形復(fù)合孔件的自動(dòng)裝配,首先對(duì)零件進(jìn)行了幾何形狀分析,擬定裝配策略,得出復(fù)合件需要沿三軸進(jìn)行位姿調(diào)整來(lái)控制工件與孔的相對(duì)位置角度偏差。采用設(shè)計(jì)的三種系列關(guān)節(jié)模塊根據(jù)裝配需要組合成六自由度機(jī)械臂,并得出正逆運(yùn)動(dòng)學(xué)關(guān)系;其次對(duì)裝配過(guò)程進(jìn)行接觸靜力學(xué)分析,對(duì)孔件沿各平面的接觸分布進(jìn)行了歸類。復(fù)合件裝配接觸狀態(tài)復(fù)雜,尤其是孔內(nèi)位姿調(diào)整階段,采用空間的柔順裝配模型來(lái)推導(dǎo)裝配力與裝配深度的數(shù)學(xué)模型,得出一點(diǎn)、兩點(diǎn)、三點(diǎn)等接觸狀態(tài)的受力特征。通過(guò)對(duì)阻礙裝配的“卡阻”和“楔緊”現(xiàn)象進(jìn)行了探究,分析了入孔深度和表面質(zhì)量對(duì)裝配的影響,得到成功裝配的滿足條件。提出了圓—長(zhǎng)方形復(fù)合孔件的裝配策略,分為接近孔、接觸、孔內(nèi)位姿調(diào)整三個(gè)階段。接近孔屬于非接觸狀態(tài),為特定軌跡規(guī)劃粗定位孔,由最底層關(guān)節(jié)位置控制實(shí)現(xiàn);接觸后先搜長(zhǎng)方孔、再搜圓孔使工件入孔;孔內(nèi)根據(jù)運(yùn)動(dòng)是否受阻,建立復(fù)合件位置姿態(tài)與接觸力的對(duì)應(yīng)關(guān)系,實(shí)現(xiàn)主動(dòng)接觸力控制。裝配過(guò)程中的接觸力過(guò)大會(huì)阻礙裝配進(jìn)行,嚴(yán)重還會(huì)損壞工件和機(jī)器人,采用調(diào)整側(cè)向位姿減少側(cè)向力和力矩的方式來(lái)保證裝配順利進(jìn)行,即阻抗控制。建立與環(huán)境接觸的彈簧模型,結(jié)合阻抗模型分析了阻抗參數(shù)對(duì)力控制偏差的影響。對(duì)裝配過(guò)程的各個(gè)階段進(jìn)行控制器設(shè)計(jì)并在Matlab/Simulink進(jìn)行了搭建。以圓—長(zhǎng)方形復(fù)合孔件作為裝配對(duì)象,在Adams建立機(jī)械臂模型,進(jìn)行了聯(lián)合仿真來(lái)驗(yàn)證裝配策略;仿真結(jié)果表明,在保證裝配成功的同時(shí),能夠?qū)⒔佑|力控制一定范圍內(nèi),驗(yàn)證了裝配策略的可行性。
[Abstract]:In the process of product production, assembly plays an important role, which directly determines product production cycle and production efficiency. The assembly process has a large amount of labor and heavy tasks. How to carry out assembly work efficiently is the focus of research in the fields of production management, equipment technology and so on. With the application of industrial automation technology, a series of robots, such as handling, welding, spraying and assembling, appear in every step of product production. The special feature of assembly is that the workpiece has different shapes and needs contact environment, and the hole fitting clearance is small, which puts forward strict requirements for robot force position control technology and detection technology. At present, most of the parts in the robot assembly line are regular shape, complete symmetry, and less research on the assembly object of complex shape, so the robot assembly is still a field that needs further research. In this paper, the assembly technology of circular and rectangular composite holes is studied by using modular combined manipulator and force position control strategy. In order to realize the automatic assembly of circular and rectangular composite holes, the geometric shape of the parts is analyzed, and the assembly strategy is drawn up. It is concluded that the compound parts need to adjust the position and orientation along the three axes to control the relative position deviation between the workpiece and the hole. The three series of joint modules designed are combined into six degrees of freedom manipulator according to the assembly requirements, and the forward and inverse kinematics relations are obtained. Secondly, the contact statics analysis of the assembly process is carried out, and the contact distribution of the holes along each plane is classified. The assembly contact state of composite parts is complex, especially in the adjustment stage of position and pose in the hole. The mathematical model of assembly force and assembly depth is derived by using the spatial compliant assembly model, and the mechanical characteristics of the contact state of one point, two points and three points are obtained. This paper probes into the phenomenon of "blocking" and "wedge tightening" which hinders the assembly, analyzes the influence of the depth of the hole and the quality of the surface on the assembly, and obtains the conditions for the successful assembly. The assembly strategy of circular-rectangular composite hole parts is put forward, which is divided into three stages: close hole, contact and adjustment of position and orientation inside hole. The approach hole is in a non-contact state, and the coarse positioning hole is planned for a particular trajectory, which is controlled by the position of the lowest joint; after contact, the long square hole is searched first, then the round hole is searched to make the workpiece enter the hole, and the hole is blocked according to the motion or not. The corresponding relation between the position and the contact force of the composite is established, and the active contact force control is realized. The contact force in the assembly process hinders the assembly and seriously damages the workpiece and robot. The method of adjusting the lateral position and reducing the lateral force and torque is adopted to ensure the assembly to proceed smoothly namely impedance control. The spring model of contact with environment was established, and the influence of impedance parameters on force control deviation was analyzed with impedance model. The controller of each stage of assembly process is designed and built in Matlab/Simulink. Taking the circular and rectangular composite holes as the assembly object, the manipulator model is established in Adams and the joint simulation is carried out to verify the assembly strategy. The simulation results show that the contact force can be controlled within a certain range while the assembly is successful. The feasibility of assembly strategy is verified.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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