中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
首页 机构 成果 学者
  
  1. CAS IR Grid
  2. 自动化研究所
  3. 中国科学院自动化研究所
  4. 中科院工业视觉智能装备工程实验室
  5. 精密感知与控制
An Automatic Assembly Control Method for Peg and Hole Based on Multidimensional Micro Forces and Torques

文献类型：期刊论文

作者Shen, Fei1,2; Zhang, Zhengtao1; Xu, De1; Zhang, Juan2; Wu, Wenrong2
刊名INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING
出版日期2019-08-01
卷号20期号:8页码:1333-1346
关键词Automatic assembly Micro forces control Micro torques control
ISSN号2234-7593
DOI10.1007/s12541-019-00131-y
通讯作者Zhang, Zhengtao(zhengtao.zhang@ia.ac.cn)
英文摘要In this paper, an automatic assembly method for peg and hole based on multidimensional micro forces and torques is developed for satisfying the accurate and lossless assembly requirements. The relationship between the forces and torques from the force sensor and the attitudes deviation of peg and hole is discussed. Moreover, a novel method based on active constraint state for estimating the deviation angles between the peg and the hole through the toques exerted on the sensor is proposed. To achieve automated insertion and minimize the contact forces and torques in the meanwhile during the insertion process, a control strategy for controlling contact forces and torques is proposed by eliminating the position and attitudes deviation interactively. Related assembly experiments are conducted to verify the effectiveness of the proposed approaches.
WOS关键词CONTROL-SYSTEM ; FEEDBACK
资助项目National Natural Science Foundation of China[61503378] ; National Natural Science Foundation of China[61473293] ; National Natural Science Foundation of China[61803354] ; Science Challenge Project[0006] ; Foundation of Laboratory of Precision Manufacturing Technology CAEP[ZD17003]
WOS研究方向Engineering
语种英语
WOS记录号WOS:000476793100006
出版者KOREAN SOC PRECISION ENG
资助机构National Natural Science Foundation of China ; Science Challenge Project ; Foundation of Laboratory of Precision Manufacturing Technology CAEP
源URL[http://ir.ia.ac.cn/handle/173211/27790]  
专题精密感知与控制研究中心_精密感知与控制
通讯作者Zhang, Zhengtao
作者单位1.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
2.China Acad Engn Phys, Laser Fus Res Ctr, Mianyang 621900, Sichuan, Peoples R China
推荐引用方式
GB/T 7714		 Shen, Fei,Zhang, Zhengtao,Xu, De,et al. An Automatic Assembly Control Method for Peg and Hole Based on Multidimensional Micro Forces and Torques[J]. INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING,2019,20(8):1333-1346.
APA Shen, Fei,Zhang, Zhengtao,Xu, De,Zhang, Juan,&Wu, Wenrong.(2019).An Automatic Assembly Control Method for Peg and Hole Based on Multidimensional Micro Forces and Torques.INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING,20(8),1333-1346.
MLA Shen, Fei,et al."An Automatic Assembly Control Method for Peg and Hole Based on Multidimensional Micro Forces and Torques".INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING 20.8(2019):1333-1346.

入库方式： OAI收割

来源：自动化研究所

浏览0
下载0
收藏0
其他版本

除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。