论文部分内容阅读
分析了典型的机器人装配作业——插销入孔作业过程,导出了顺利插入应具备的条件,并采用阻抗控制方法在Movemaster-EX五自由度机器人上成功地实现了插销入孔这一作业过程,零件公差为±0.05mm和±0.1mm。
This paper analyzes the typical robot assembly operation - the process of inserting the bolt into the hole, derives the conditions that should be provided for the smooth insertion, and implements the operation process of inserting the bolt into the hole by using the impedance control method on the Movemaster-EX five-freedom robot. Part tolerances are ± 0.05mm and ± 0.1mm.