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基于模块化3轴力传感器的合规人机物体传输,用于协作制造
Hongliang Hua1, Zhenqiang Liao2, Yuhang Liu3
1School of Aeronautics and Mechanical Engineering, Changzhou Institute of Technology, Changzhou, Jiangsu 213032, PR China; School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, Jiangsu 210094, PR China.
ISA transactions
|July 21, 2023
概括
本研究介绍了一种符合标准且具有成本效益的方法,用于使用一种新的力传感器和控制策略进行机器人-人类物体传输. 该系统在协作制造环境中增强了安全性和合规性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人与机器人的交互
- 制造业 工程 制造工程
背景情况:
- 在制造业中,机器人与人类的协作需要安全和合规的对象转移.
- 现有的方法往往缺乏必要的灵敏度和适应性,以实现无互动.
研究的目的:
- 开发一个具有成本效益和合规的解决方案,用于人类和机器人之间的物体传输.
- 为了提高协作制造任务的安全性和效率.
主要方法:
- 提出了一种新的模块化3轴力传感器,用于抓取系统中的交互式力传感.
- 开发了一个符合对象转移控制策略,具有增量力控制和重力平衡控制模式.
- 为实验验证,制造了一种与力传感器集成的原型未经调整的抓取系统.
主要成果:
- 增强力控制模式证明适用于需要高交互灵敏度的较轻物体.
- 重力平衡控制模式对于较重的物体是有效的,可以实现准静态平衡和符合转移.
- 拟议的控制策略显著提高了对象转移合规性和安全性.
结论:
- 开发的模块化力传感器和双模式控制策略为人机物体传输提供了多功能解决方案.
- 这种方法在协作制造环境中有很大的潜力提高安全性和合规性.
- 这些发现为更加综合和直观的人机协作铺平了道路.
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