Research on robot shaft hole assembly method based on force sensor

Xiang Liu

doi:10.1117/12.3010815

1 December 2023 Research on robot shaft hole assembly method based on force sensor

Xiang Liu

Proceedings Volume 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023); 129401U (2023) https://doi.org/10.1117/12.3010815
Event: Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 2023, Sipsongpanna, China

Abstract

To address the need for robots to control external forces at their ends when performing shaft hole assembly tasks, this paper proposes a robot compliant assembly method based on six dimensional force sensors, and uses this method to perform operations such as hole searching and inserting. Firstly, the D-H method is used to define the coordinate systems of the robot arm, and its kinematic equations are derived, providing a theoretical basis for the following hole searching strategies; Then, based on the UR5 collaborative robot, an experimental platform for shaft hole assembly is built, and a six dimensional force sensor is installed at the end of the robot arm to achieve its end external force sensing function; Secondly, aiming at the problem of hole positioning, a spiral trajectory hole searching strategy based on force perception is proposed for fast hole searching operations; Finally, an experimental scheme was designed to validate the drilling strategy through experiments, and the experimental results were analyzed to verify the effectiveness of the method.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Xiang Liu "Research on robot shaft hole assembly method based on force sensor", Proc. SPIE 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 129401U (1 December 2023); https://doi.org/10.1117/12.3010815

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available