多信息融合精密装配机器人建模与控制方法研究

摘要

本文针对印刷机轴承套筒质量大、配合精度高、人工安装效率低、对操作人员伤害大的问题,基于六自由度微动平台设计了一种多信息融合印刷机精密装配机器人,该机器人具有粗测系统和探入式精确测量系统能够代替人工自动完成印刷机套筒的装配.对该机器人来说,精确测量是完成装配的基础.本文提出了探入式测量工装的使用策略,建立了探人式测量工装的读数与平台和通孔的相对的位姿关系,最终通过测量工装得到了机器人上板的速度与加速度.之后利用滑模控制方法建立了控制器,并证明了稳定性,为实现印刷机精密装配奠定了理论基础.%The printing machine's sleeves are heavy, and must be fit with high accuracy, so, hand operation is hard and low work efficiency, and large body injury for assembling workers. For solve these problems, a printing automatic precision assembly robot with multi-information fusion measuring system is designed. Precision measure is the base of precision assembly. The strategy of using probe-into measure tooling is put forward, which establishes the relative pose relations among the readings of probe-into measure tooling, platform and the through-holes. Thus, eventually, we can obtain the relationship between the readings of measure tooling and the pose of top plate, and then we can obtain the velocity and acceleration of top plate. Sliding mode controller is established for control this robot. The stability of the proposed controllers is proved. Our work will be the theoretical base of the printing automatic precision assembly robot.