关键词: 轴孔装配, 非接触, 机器人, 螺旋理论, 位姿变换

Abstract: Aiming at the problem of precision docking with contact,a new method for three dimensional non-contact stepped peg-in-hole assembly system was proposed.In the assembly process,the unified coordinate system was built with a high-precision laser scanner,and the interval minimum maximization model was proposed to obtain the best assembly posture.An effective neighbor search algorithm was put forward to determine the posture parameters.A 6 degree of freedom mixed-connected robot was designed to implement the posture adjustment of shaft,and its degree of freedom was computed based on screw theory.The inverse position model was established according to the analytic method to achieve the final non-contact assembly.The effectiveness of proposed method was validated with the simulation and experimental results,which could be applied to common stepped peg-in-hole assembly.

Key words: peg-in-hole, non-contact, robot, screw theory, posture adjustment