用于机器人螺钉柔性装配的夹持器

摘要

Based on the requirement of robot screw flexible assembly pose alignment strateg y, the paper briefly introduces the styles of robot end tip compliance. It propo ses stiffness matrix based expression method, designs and produces a screw flexi ble clip with the characteristic of reasonable compliance. Experimental results show that the extended scope of pose compliance sets up a good foundation for the execution of robot screw flexible assembly.%从机器人螺钉柔性装配位姿调整策略的需要出发,简要介绍了机器人末端适从方式,提出了基 于刚度矩阵的适从表达方案,设计并制作出具有良好适从特性的螺钉柔顺夹持器,实验结果表 明,该夹持器所具有的较宽位姿适从范围为机器人螺钉柔性装配的实施打下了良好基础。