机器人2025，Vol.47Issue(5)：668-676,9.DOI:10.13973/j.cnki.robot.240254
机器人末端自动化螺栓装配执行器的设计与控制
Design and Control of the Robot End-effector for Automatic Bolt Assembly
摘要
Abstract
To address the assembly operation challenges of existing bolt assembly robots in confined spaces,a lightweight and compact automatic assembly actuator mounted on the robot end-effector is developed,and an STM32 microcontroller unit(MCU)based voltage and current double closed-loop control system is designed.During the automatic bolt propulsion and resetting in assembly process,this system can collect voltage and current signals required for the actuator operation in real time.After signal processing,the STM32 MCU generates voltage control signals to precisely regulate the actuator oper-ation.The automatic propulsion and resetting functions in bolt assembly process simplify the motion control of manipulator carrying the actuator.The system indirectly controls the bolt tightening torque by regulating the current.Compared with existing actuator designs relying on torsion sensor feedback control,the actuator size and weight are significantly reduced by the proposed design.Extensive practical tests demonstrate that the automatic actuator can accurately perform automatic installation,disassembly,and tightening operations for M4,M5,and M6 external hexagonal carbon steel bolts.关键词
机器人末端执行器/螺栓装配/双闭环控制系统/力矩控制/电流检测Key words
robot end-effector/bolt assembly/double closed-loop control system/torque control/current detection引用本文复制引用
刘宗诚,马鹏菲,彭海军..机器人末端自动化螺栓装配执行器的设计与控制[J].机器人,2025,47(5):668-676,9.基金项目
辽宁省科技计划(2024021145-JH3/501). （2024021145-JH3/501）
