摘要
针对现有螺栓装配机器人在狭小空间装配操作的难题,设计了一种安装在机器人末端的轻质小型自动化装配执行器,并以STM32单片机作为控制器进行了电压电流双闭环控制系统设计。在实现螺栓的自动推进和自动复位的装配过程中,控制系统可实时采集执行器工作所需的电压、电流信号,经处理后由STM32单片机产生电压信号,实现对执行器工作的精确控制。螺栓装配过程的自动推进和自动复位降低了携带执行器的机械臂的运动控制难度;通过电流间接控制螺栓拧紧力矩,与现有的扭力传感器反馈控制相比减小了执行器的体积和重量。实际测试结果表明,该自动化执行器能较为精准地完成M4、M5和M6外六角碳钢螺栓的自动化安装、拆卸和拧紧操作。
To address the assembly operation challenges of existing bolt assembly robots in confined spaces,a lightweight and compact automatic assembly actuator mounted on the robot end-effector is developed,and an STM32 microcontroller unit(MCU)based voltage and current double closed-loop control system is designed.During the automatic bolt propulsion and resetting in assembly process,this system can collect voltage and current signals required for the actuator operation in real time.After signal processing,the STM32 MCU generates voltage control signals to precisely regulate the actuator operation.The automatic propulsion and resetting functions in bolt assembly process simplify the motion control of manipulator carrying the actuator.The system indirectly controls the bolt tightening torque by regulating the current.Compared with existing actuator designs relying on torsion sensor feedback control,the actuator size and weight are significantly reduced by the proposed design.Extensive practical tests demonstrate that the automatic actuator can accurately perform automatic installation,disassembly,and tightening operations for M4,M5,and M6 external hexagonal carbon steel bolts.
作者
刘宗诚
马鹏菲
彭海军
LIU Zongcheng;MA Pengfei;PENG Haijun(National Key Laboratory of Industrial Equipment Structure Analysis and Optimization and CAE Software,School of Mechanics and Aerospace Engineering,Dalian University of Technology,Dalian 116024,China)
出处
《机器人》
北大核心
2025年第5期668-676,共9页
Robot
基金
辽宁省科技计划(2024021145-JH3/501).
关键词
机器人末端执行器
螺栓装配
双闭环控制系统
力矩控制
电流检测
robot end-effector
bolt assembly
double closed-loop control system
torque control
current detection
