关键词: 机器人, 轴孔装配, 被动柔顺, 主动柔顺, 阻尼控制

Abstract: In this paper,the conditions for the jamming-free peg-in-hole assembly of holes with coarse internal sur- face are analyzed,and a magnetic force-based active-passive compliant device is designed to avoid the jamming.In this device,a passive compliant section connected by repulsive magnetic force is used to separate the shaft from the end-effector in the process of assembly.Thus,both resistance and resistance moment significantly decrease.After that,a rotational push-pull active compliant section connected by magnetic force is employed to generate a torque for the escape of shaft from jamming point.In addition,a three-axis motion platform with open-structured motion control card and a one-dimension force sensor are deployed to conduct experiments for four pairs of shaft and hole with different diameters.The results indicate that the designed active-passive compliant device can effectively avoid the jamming in the assembly process of holes with coarse internal surface,and that the assembly can be finished within 10 seconds,which means that the proposed device and the corresponding damping control algorithm are both effective.

Key words: robot, peg-in-hole assembly, passive compliance, active compliance, damping control