机器人力控末端执行器综述

随着制造业的智能化发展，机器人抛光、打磨、去毛刺和装配等连续接触式作业的需求日益增加。力控末端执行器作为机器人力-位混合控制与连续接触式作业的关键部件，其性能对于提升机器人作业质量和拓展应用范围具有重要影响。因此，对现有机器人力控末端执行器进行研究，分析其性能特点与关键技术，指明其发展方向，对于高性能力控末端执行器的研制具有重要意义。首先，介绍了力控末端执行器的发展背景，阐述了其组成与分类、工作模式和工作原理；其次，简述了力控末端执行器研发中涉及并联机构构型综合理论与优化技术、恒力补偿作动部件设计技术、质量力补偿技术、柔性碰撞技术、解耦控制技术和力波动抑制技术等；然后，分别对机械式、气动式和电驱式等单自由度与多自由度力控末端执行器的国内外研究现状进行了概述，并分析了各自的优缺点；最后，指出力控末端执行器将向高精度、高频响、电驱化、多自由度柔顺、重载化、高集成化和智能化等方向发展。分析表明，当前普遍应用的力控末端执行器多为机械式或气动式，但存在迟滞大、响应速度较慢和力控制精度不高等缺点，且仅能实现单自由度恒力控制，因此，开展高精度高频响的智能电驱式多自由度力控末端执行器的研制，对于提高机器人连续接触式作业系统的力控制精度、曲面适应性、加工装配质量和效率具有重要意义，可有效提升工厂机器人智能化作业水平。

Review of robotic end-effector with force control

With the intelligent development of manufacturing industry, industrial robots are more and more widely used for continuous contact operation, such as polishing, sanding, burring and assembling. End-effector with force control is a critical component of robots used for hybrid force/position control and continuous contact operation, which has an important effect on the operation quality and application field extension. In view of the above situation, it is of great importance for developing new robotic end-effector of high-performance to investigate the state, analyze the characteristics and key technology, and forecast the trends of development. The background of end-effector with force control was introduced firstly, and then the composition & classification, working mode and operation principle was presented. The key technologies of end-effector with force control were refined, including the comprehensive theory and optimization technique of parallel manipulator configuration, design technique of constant force compensatory actuator, technique of compensation of mass force, technique of flexible collision and technique of decoupling control. Furthermore, the mechanical, pneumatic, electrically driven end-effector with force control of single-DOF and multi-DOF was detailed summarized, as well as the advantages and disadvantages. The technology trends of the end-effector with force control include high precision and frequency response, electric driving, multi-DOF flexibility, high load capacity, integration and intellectualization. Analysis shows that the mechanical or pneumatic end-effector with force control is widely used nowadays, which has the disadvantages of large lagging, low control precision and response and can only realize constant force control of single-DOF. As a result, research on intelligent and electrically driven robotic end-effector with force control of high precision, response and multi-DOF will play an important role for the improvement of force control precision, surface adaptability, quality and efficiency of processing & assembly, and effectively promote the intelligent operation level of industrial robots.