A quickly compliant assembly method for annular parts based on adaptive insertion speed.

During the differential temperature assembly of the annular parts in the automatic tilter of large helicopters, intense heat conduction occurs between high-temperature parts and low-temperature parts, leading to component deformation. To reduce the heat conduction time during the assembly of parts, this paper proposes a quickly compliant assembly method for annular parts based on adaptive insertion speed. Firstly, an assembly contact force perception method based on kinematic model is described, which converts the force signals detected by distributed three dimensional force sensors (TDFSs) into six-dimensional contact forces. Secondly, an impedance control model for redundant drive parallel mechanism is constructed, and Simulink simulation is used to study the influence of insertion speed on assembly contact force. Then, a fuzzy adaptive impedance control system is built, so that the insertion speed of the annular parts can be dynamically adjusted. Finally, a compliant assembly platform for annular parts is established in the laboratory, and compliant insertion experiments are conducted. The experimental results show that the impedance control with adaptive adjustment of insertion speed can significantly reduce the assembly contact force and insertion time.