科技创新与应用2026，Vol.16Issue(17)：1-4,4.DOI:10.19981/j.CN23-1581/G3.2026.17.001
基于视觉引导的腕臂机器人柔顺装配方法分析
摘要
Abstract
To address challenges such as part reflection,inaccurate positioning,and frequent jamming in the automated assembly of high-speed rail overhead contact line wrist-arms,this paper proposes a robot compliant assembly method integrating vision and force sensing.Through adaptive exposure and deep learning,the method achieves robust part recognition and coarse positioning.Based on 3D point cloud visual servo,it accomplishes sub-millimeter precision positioning and online compensation.During assembly,an impedance model and finite-state machine enable force/position hybrid control,allowing the robot to adaptively perform searching,alignment,and insertion based on real-time torque.Experimental results demonstrate that the proposed method can achieve an assembly success rate of over 92%,significantly outperforming traditional approaches,and provides a reliable technical solution for precision assembly of complex components.关键词
接触网腕臂/机器人装配/视觉引导/力觉控制/柔顺装配Key words
contact line wrist-arm/robot assembly/visual guidance/force control/compliant assembly分类
信息技术与安全科学引用本文复制引用
刘明,司桂行,朱向荣,马兆兴..基于视觉引导的腕臂机器人柔顺装配方法分析[J].科技创新与应用,2026,16(17):1-4,4.基金项目
国家自然科学基金资助项目(62203248) （62203248）
山东省建筑与交通双碳创新创业共同体资助(STGTT0201202501) （STGTT0201202501）
