机器人Issue(1)：115-121,7.DOI:10.13973/j.cnki.robot.2016.0115
一种套件精密对接自动装配实验系统
An Auto-docking Assembly Test System for Target Suits
摘要
Abstract
An assembly test platform capable of micrometer positioning, visual and force sensing detection, is developed for suits docking in ignition target final assembly. The classification and discrimination of target parts and the corresponding image detection are adopted to realize closed-loop position control. The target suits docking process is analyzed, and a assembly force model is established. An assembly force control method is proposed based on the established model. Finally, targets positioning and docking experiments are carried out using the developed auto-assembly system, and the system force control, assembly accuracy and efficiency are verified.关键词
微装配/显微视觉定位/轴孔装配/力控制Key words
micro assembly/microscopic visual positioning/peg-in-hole assembly/force control分类
信息技术与安全科学引用本文复制引用
邹宇,荣伟彬,邢济尧,孙立宁..一种套件精密对接自动装配实验系统[J].机器人,2016,(1):115-121,7.基金项目
机器人技术与系统国家重点实验室自主研究课题（SKLRS201301A01）；长江学者和创新团队发展计划（IRT0915）． （）
