| 一种基于力传感器机器人装配作业的研究 |
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| 引用本文： | 刘劲松,吴威.一种基于力传感器机器人装配作业的研究[J].哈尔滨工业大学学报,1995,27(2):115-117. |
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| 作者姓名： | 刘劲松 吴威 |
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| 作者单位： | 哈尔滨工业大学机器人研究所 |
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| 基金项目： | 国家“863”高技术计划智能机器人主题 |
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| 摘 要： | 介绍了一种具有力觉功能的新型机器人二自由度平面微操作器，研制了具有四种选择细分数功能ＦＲＭＷ高细分驱动器，ＦＰＭＷ与普通工业机器人ＰＵＭＡ５６２组成宏／微操作器系统，在开发的基于力／力矩信息的平面搜孔软件的指挥下，机器人宏／微操作器系统成功完成了精密轴孔装配作业，平均装配时间４．２秒。
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| 关 键 词： | 机器人 微操作器 精密装配 力传感器 装配作业 |
The Study of Robot Assembly Based on Force Sensor |
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| Liu Jinsong, Wu Wei, Cai Hegao.The Study of Robot Assembly Based on Force Sensor[J].Journal of Harbin Institute of Technology,1995,27(2):115-117. |
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| Authors: | Liu Jinsong Wu Wei Cai Hegao |
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| Affiliation: | Robet Research Institute |
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| Abstract: | A new kind of robot force-controlled planar micro-manipulator with 2-DOF (FPMW) is introduced. A four-choosed division number FPMW driver is also presented.FPMW and general purpose robot PUMA562 constructs a macro/micro manipulator system.Instructed by the force/torque planar searching hole strategy, the robot macro/micro manipulator system accomplishes successfully the precise peg-in-hole assembly work. The average working time is only about 4.2 seconds. |
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| Keywords: | Robot micro-manipulator macro/micro manipulator system precise assembly |
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