Abstract
The end-effector is a key device for direct contact and operation between the operator and the workpiece, and its mechanical structure will directly affect the quality of the machine and expand its application. The theoretical research and technical implementation of the end-effector for compliance control are facing a lot of urgent challenges to be solved, therefore, the research results of active compliance control of robot end-effectors have a very broad application prospect. This paper describes the design and research results of different end-effectors under impedance-based control, hybrid force/position control, and intelligent flexible control methods, respectively. Under each control method, the structural characteristics and the optimized control scheme under different drives are introduced. Finally, key techniques for achieving compliance control are derived by summarizing, which broadens the engineering applications and provides methods and ideas for future research.
Highlights
With the advancement of manufacturing intelligence, many occasions require machines with the ability to sense and control contact forces
We summarize the end-effectors according to the previous introduction and come up with the key technologies to realize the compliance control of end-effectors
A great deal of research has been conducted and fruitful results have been achieved on end-effectors for robots based on compliance control
Summary
With the advancement of manufacturing intelligence, many occasions require machines with the ability to sense and control contact forces. We summarize the whole paper and provide ideas and research directions for the future design of end-effectors based on compliance control. The mechanism of-freedom force-controlled end-effector using a cylinder for axially flexible control, and it can directly drive the tool head for rotational motion, reducing the mass of the tool head power components and improving the response speed and load capacity. A new gripping body construction method with a single pneumatic artificial muscle winding layout is adopted in the structure They add pre-deformation to the inner cavity of the soft body end to achieve its regular contraction to complete the gripping of objects with different characteristics. IFtemrnaainnldyocoent sails.ts[6o3f]DdCesmigonteodrsa, rmolulelrtis-dcreegwreseu-opfp-ferreeadnodmloawcteivr estfalegxeisb,leetecn. dItmcaannicpounltartoolrt.hIet mpoasinitliyoncoonfsuisptspoefrDanCdmloowtoerrs, stages by six DC motors to achieve multi-degree of freedom active flexure control
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