Abstract: Aiming at the problem of precision docking with contact,a new method for three dimensional non-contact stepped peg-in-hole assembly system was proposed.In the assembly process,the unified coordinate system was built with a high-precision laser scanner,and the interval minimum maximization model was proposed to obtain the best assembly posture.An effective neighbor search algorithm was put forward to determine the posture parameters.A 6 degree of freedom mixed-connected robot was designed to implement the posture adjustment of shaft,and its degree of freedom was computed based on screw theory.The inverse position model was established according to the analytic method to achieve the final non-contact assembly.The effectiveness of proposed method was validated with the simulation and experimental results,which could be applied to common stepped peg-in-hole assembly.

Key words: peg-in-hole, non-contact, robot, screw theory, posture adjustment

摘要： 针对某装备轴孔空间精密对接问题,提出了适用于三维阶梯轴孔非接触式装配的新方法。在装配过程中,借助绝对臂测量机建立系统的统一坐标系,构建了轴孔全行程间隙最小值最大化模型,并以此为目标提出一种高效率的目标寻优算法——邻域搜索法,从而确定最佳装配位姿。设计了一种6自由度混联机器人,运用螺旋理论计算其自由度,通过解析法构建系统位置正解;利用优化后的姿态参数进行姿态变换,最终完成三维阶梯轴孔非接触式精密装配对接。仿真和试验证明该方法可靠,并可有效应用于工业阶梯轴孔装配。

关键词: 轴孔装配, 非接触, 机器人, 螺旋理论, 位姿变换