线束插植机械臂控制系统设计

Design of wire harness planting manipulator control system

摘要:

针对线束插植作业过程中多线束可编程插植和插植力控制问题,研究一种基于串联弹性执行器(Series Elastic Actuator 简称SEA)的自动化线束插植的三轴机械臂控制系统。首先,分析了多线束插植过程的工艺流程要求；其次,给出了线束插植机械臂的设计方案；然后,研制了线束插植运动控制器,包括坐标系示教、多线束自动插植编程、插植力控制功能模块；最后,利用研制的线束插植控制器进行了手动和自动插植力控制实验,验证了所设计系统的可行性、有效性。

Abstract:

In order to solve the problem of multi-wire beam programmable interpolation and planting force control in the process of wire harness transplanting, a three-axis manipulator control system is studied based on a series elastic actuator. Firstly, the technological requirements of the multi-wire beam insertion process are analyzed. Secondly, the design scheme of the wire harness planting manipulator is given. Then, a wire harness planting motion controller is developed, which includes the function modules of coordinate system teaching, multi-harness automatic planting programming, planting force control. Finally, using the developed wire harness planting motion controller, the manual and automatic planting force control experiments are performed to verify the feasibility and effectiveness of the designed system.