Journal of Jilin University(Engineering and Technology Edition) ›› 2019, Vol. 49 ›› Issue (6): 2027-2037.doi: 10.13229/j.cnki.jdxbgxb20180592

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Mechanism design and docking strategy forend⁃effectors exchange of robot

Chang-you MA1,2(),Hai-bo GAO1(),Liang DING1,Hai-tao YU1,Hong-jun XING1,Zong-quan DENG1   

  1. 1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China
    2. College of Mechanical Engineering, Jiamusi University, Jiamusi 154007, China
  • Received:2018-06-07 Online:2019-11-01 Published:2019-11-08
  • Contact: Hai-bo GAO E-mail:mcyazh@126.com;gaohaibo@hit.edu.cn

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Abstract:

To solve the issue of the single ability for robot in the nuclear power plant, an autonomous exchange mechanism of the end-effector for robot is developed. The interface of multi-torque output with the concentric and parallel mechanism with 3-Hooke joints is used to provide power input for the end-effector with related operations. Based on analysis of the passive compliance and tolerance condition for the docking process of the double Hooke joints between the end-effector exchange and the tool rack, an automatic docking control strategy of the end-effectors exchange is proposed based on the contact force threshold. The automatic replacement of different end-effectors is realized by experiments, and the feasibility of the control strategy is verified. The mechanism prototype for end-effector exchange is designed. The exchange experiments of different end-effectors are carried out by the SCHUNK 6 DOF manipulator mobile experiment platform, which demonstrate the effectiveness of the control strategy, the tolerance performance of the mechanism. The experimental results show that the mechanism has completed docking process with larger tolerance compliant and realized the power transmission of the end-effector.

Key words: automation control technology, mechanical design, end-effector exchange, hooke joint, compliant docking, power transmission

CLC Number: 

  • TH165

Fig.1

Docking process of end-effector exchangemechanism"

Fig.2

Deviation between shaft and hole"

Fig.3

Principle of passive compliance based on the double hooke′s joints mechanism"

Fig.4

Principle of three hooke's jointsparallel mechanism"

Fig.5

Configuration of end-effector exchange"

Fig.6

Design of torque transmission mechanism"

Fig.7

Design of locking and release mechanism"

Fig.8

Design of end-effector torque transmission mechanism"

Fig.9

Storage device of end-effector"

Fig.10

Standard interfaces of end-effector"

Fig.11

Algorithm for automatic docking process"

Fig.12

Search area around expected hole position"

Fig.13

Schematic diagram explaining dockinginterface checking steps"

Fig.14

Software and hardware of 4 exchangemechanism"

Fig.15

Exchange and power transmittingprocess of end-effector"

Fig.16

Curve of contact force and displacementduring docking process"

Fig.17

Exchange and power transmitting process of end-effector"

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