회전력과 수직력을 조합한 커넥터 체결용 로봇 그리퍼의 제어 전략

Abstract

In robotic manufacturing, connector assembly poses challenges due to misalignment, jamming, insufficient insertion force, and potential damages of robot and connector. To overcome these issues, we propose a robot gripper that emulates human’s connector assembly strategy where rotational force and linear force are superimposed. Utilizing a statics model, we adjust the parameters (rotation angles, cycle time, insertion forces, etc.) to optimize the assembly tasks that employ the proposed gripper. The developed gripper structure is capable of precise rotational control synchronized with adaptive impedance control of the manipulator in the direction of the assembly. Experiments demonstrate that our gripper reduces insertion time, decreases required force, and enhances stability, preventing jamming and wedging phenomena. This approach can improve efficiency and reliability in robotic connector assembly while minimizing damages to manipulators and connectors.