Research of the shaft inserting system for the moving object with cross type PSD sensor

针对运动物体，研制了带有十字型PSD传感器的插轴系统。为了提高系统对运动物体的插轴性能，本研究提出并开发了用于插轴的振动末端执行器。末端执行器长124毫米，重521g。轴上有8个磁板，由8个张紧弹簧悬挂。这些板周围的电磁铁产生的电磁力使轴振动。在轴插入的情况下，如果位置误差大于轴与目标孔之间的间隙，则端效应由具有目标孔的物体表面推动，并改变静电容量传感器的电容。当控制器检测到变化，电磁铁驱动轴螺旋。如果轴与目标孔之间的位置误差在500 μm以内，则振动端执行器可以插入轴。采用碾压混凝土末端执行器的旧系统可以以40mm/s的速度将轴插入间隙为100μm的孔中。该系统采用振动端部执行器，能够以80 mm/s的速度完成间隙为50μm孔的插轴工作。

We developed the shaft inserting system with the cross type PSD sensor for the moving object. To improve the shaft inserting performance of this system to the moving object, we proposed and developed the vibrating end-effector for the shaft inserting to the moving object in this research. The end-effector is 124 mm of the long and 521g of the weight. The shaft with 8 magnetic plates in hung by 8 tension springs. The electromagnetic force produced by the 8 electromagnet around those plates vibrates the shaft.In the case of the shaft inserting, if there are larger position error than the clearance between the shaft and the target hole, the end-effect is pushed by the surface of the object with target hole, and the capacitance of the electrostatic capacity sensor is changed. When the controller detects the change, the electromagnets actuate the shaft spirally. If the position error between the shaft and the target hole is within 500 μm, the vibrating end-effector can insert the shaft. The old system with RCC end-effector could insert the shaft into the hole with the clearance of 100μm at a speed of 40mm/s. The new system with the vibrating end-effector could achieve the shaft inserting work for the hole with the clearance of 50μm at a speed of 80 mm/s.