Jamming Analysis and Force Control for Flexible Dual Peg-in-Hole Assembly
Jamming Analysis and Force Control for Flexible Dual Peg-in-Hole Assembly
复制标题
灵活双孔销组件的干扰分析和力控制
DOI：
10.1109/tie.2018.2838069
复制
发表时间：
2019-03-01
影响因子：
7.7
通讯作者：
Chen, Ken
中科院分区：
文献类型：
--
作者：
Zhang, Kuangen;Xu, Jing;Chen, Ken
为了解决柔性零件的自动装配问题，本文研究了柔性双销孔装配的接触状态分析、卡阻分析和力控制策略。首先，分别列举了大变形阶段和小变形阶段的接触状态。其次，推导了力与力矩之间的关系，分析了不同阶段的干扰状态。第三，提出了控制策略。最后通过实验验证了接触状态分析、卡涩分析和力控制策略的有效性。
In order to deal with automatic assembly problems for flexible components, in this paper we develop contact states analysis, jamming analysis, and force control strategies for flexible dual peg-in-hole assembly. First, contact states in large and small deformation stages are enumerated, respectively. Second, the relationship between forces and moments is derived, and jamming states for different stages are analyzed. Third, control strategies are also presented. Finally, results of experiments verified the effectiveness of the contact state analysis, jamming analysis, and force control strategies.