A centroid measurement method of large components for active compliant assembly

Abstract

In the active compliant assembly system of large components, the centroid parameter is an important factor affecting the dynamic model of the attitude adjustment mechanism. This paper proposes a novel automatic centroid measurement method. Firstly, the contact force calculation method between large components during active compliant assembly was described, and the impact of the centroid of large components on the accuracy of the contact force calculation was analyzed. Secondly, based on the principles of torque balance and rigid body rotation, a novel centroid calculation model considering lateral forces is established, and RANSAC is used to optimize the centroid solution. Then, numerical simulation methods were used to analyze the impact of random errors and weighing strategies on the centroid measurement accuracy, and suggestions were given to improve the centroid measurement accuracy. Finally, a compliant assembly system for large component was built in the laboratory, and centroid measurement and accuracy verification experiments were conducted. The experimental results show that the proposed method can significantly improve the accuracy of centroid measurement and can effectively reduce the contact force calculation error during the compliant assembly process of large components.