摘要
飞机数字化装配技术的发展要求提高装配自动化水平,工业机器人因此得到广泛使用,而工业机器人在定位精度与结构刚度上的局限性又催生了力控制技术的研究与发展。力控制技术不同于传统的位置控制,是利用安装在机器人上的传感器反馈力的数据,以此为依据驱动机器人将构件或工具送达最佳装配位置的技术。叙述了力控制技术的发展背景、基本原理、系统组成与应用实例,并对力控制技术在飞机数字化装配中的进一步发展作出了展望。
The development of aircraft digital assembly technology demands high level of automation, and the industrial robots have been widely used. Due to the positioning accuracy and stiffness limitation of the industrial robots, the force control technology has great development. Different from the traditional position control, force control technology uses sensors on the robots to get the data of force on the force feedback, and puts the components or tools to the best assembly. This paper describes the development and basic principle of force control, and the system composition and application case of this technology. Further development of the force control technology used in aircraft digital assembly is discussed.
出处
《航空制造技术》
2016年第5期47-51,共5页
Aeronautical Manufacturing Technology
基金
国防基础科研项目(A0520132008)
关键词
飞机
数字化装配技术
力控制
工业机器人
Aircraft
Digital assembly technology
Force control
Industrial robot
