Robot Automatic Assembly System Based on Current Feedback

摘要

This paper analyzes the geometric and mechanical relationships in the process of active assembly of the circular shaft hole, and derives the relationship between the assembly lateral error and the assembly force and moment, and proposes a method for searching and finding holes and compensating the position error of the shaft hole. Active assembly method. Perform statics analysis on the robot and establish a mechanical model of the robot in a static state. The joint torque obtained by the sampling function of the robot's own joint motor current is used to analyze the force in the assembly process, to obtain the size and direction of the assembly error, and realize the error judgment without external sensors. Afterward, the shaft hole assembly process can be completed through the error adjustment algorithm.