CN114654499B - Variable-rigidity passive compliance device of industrial robot and cooperative assembly method - Google Patents

Abstract

The invention discloses a variable-rigidity industrial robot passive compliance device and a cooperative assembly method, wherein the passive compliance device mainly comprises an MRE passive compliance device, an excitation coil, a sucker, a bearing connection device and the like, and a magnetorheological elastomer is used as a rigidity-changing element for realizing the rigidity-changing characteristic of the passive compliance device. The MRE passive flexible device can be fixedly connected with the tail end of the robot through the bearing connecting device, the characteristics of the tail end of the robot such as weight, volume and the like of an assembled workpiece are required to be clamped, the number of the passive flexible devices or positions of the moving devices can be correspondingly increased/reduced to achieve an ideal effect, and the MRE passive flexible device has the advantages of being wide in application range, capable of being disassembled and recombined, high in flexibility and the like. Finally, by utilizing the variable-rigidity passive compliance characteristic of the device, in the process of mixing active and passive compliance high-precision assembly of the robot, a passive cooperation assembly scheme can cooperate with active compliance control to carry out operation at each stage.

Description

A variable stiffness passive compliance device for industrial robots and a collaborative assembly method

Technical areas:

The invention relates to a passive compliance control method for a robot, and in particular to a variable stiffness passive compliance device for an industrial robot and a collaborative assembly method.

Background technique:

With the upgrade of automated production requirements in the field of intelligent manufacturing, industrial robot collaborative assembly accuracy and assembly efficiency are facing higher challenges. For human-machine collaborative operations, accurate and efficient robot compliance control technology can bring about innovation in production technology. However, for robot terminals operating in unstructured environments, the method of active compliance control and adjustment solely relying on six-dimensional force sensing can only meet the needs of some stages of the assembly process. When force sensing information is mixed with assembly force, restraint force, etc. When force is uncontrollable, small deviations in force control can cause damage to equipment or workpieces, especially in some high-precision assembly fields. Therefore, passive compliance devices are often installed at the end of the robot to play a certain buffering role during assembly contact or to cooperate with active compliance control for fine-tuning.

However, the flexibility of a general constant-stiffness passive compliance device exists throughout the assembly process. Depending on the end load, it will affect the force perception of the active compliance control to varying degrees. Therefore, researchers have conducted research on variable-stiffness compliance control devices. to explore. The patent "CN113001398A, a variable stiffness compliant grinding and polishing actuator" has a variable stiffness passive compliance design for the robot grinding and polishing process. It can apply force compensation by changing the spring stiffness. However, based on its operating objectives, the end can only bear a small load. The patent "CN108481311A, a variable stiffness compliant grabbing device" is designed for the purpose of precision assembly and can adapt to the clamping of workpieces of various hardnesses and shapes. However, the weight and shape of the workpieces it can clamp are limited. Due to the size of the device itself and the clamping friction, the flexibility is poor, and its variable stiffness is reflected in the clamping stiffness, so it is not suitable for passive compliance control.

As a new material with variable stiffness, magnetorheological elastomer is widely used in the field of vibration isolation and shock absorption. However, there are few attempts to apply it as a passive compliance element in the field of force control. The paper "Research on Compliant Joints Based on Magnetorheological Fluid and Its Control" designs a variable-stiffness passive compliant joint based on magnetorheological fluid, which takes advantage of the variable-stiffness characteristics of magnetorheological materials, but the magnetorheological fluid leaks, Problems such as particle precipitation are unavoidable, and its compliant joints are used to control transmission stiffness and are not suitable for end assembly.

In summary, the load-bearing capacity of the existing variable-stiffness passive compliance device is limited by the device itself, the load-bearing range is small, the device flexibility is poor, there is no disassembly and reorganization ability, and the ability to cope with workpieces of various shapes is also poor.

Therefore, it is indeed necessary to improve the existing technology to solve the deficiencies of the existing technology.

Contents of the invention:

The technical problem to be solved by the present invention is to provide a variable stiffness passive compliance device for industrial robots and a collaborative assembly method in view of the above-mentioned deficiencies in the prior art.

The present invention adopts the following technical solution: a variable stiffness passive compliance device for industrial robots. The variable stiffness passive compliance device for industrial robots includes a robot body, a control cabinet and a counterweight component, an AGV trolley, a connecting flange, and a flange. plate, load-bearing connection device, small moving slider, large moving slider, MRE passive compliance device, adsorption workpiece, first slide rail and second slide rail. The robot body, control cabinet, counterweight components and AGV trolley constitute the In the robot system, the connecting flange is fixedly connected to the load-bearing connection device. The end of the robot system is provided with a flange plate. The small moving slide block and the large moving slide block connect the passive compliance device and the load-bearing connecting device. The small moving slide block The first slide rail bolt is installed on the block. The small mobile slide block adjusts the height of the passive compliance device along the second slide rail through the first slide rail bolt. The second slide rail bolt is installed on the large mobile slide block. The large mobile slide block The block moves the position of the MRE passive compliance device on the load-bearing connection device along the first slide rail through the second slide rail bolt. The load-bearing connection device, the small moving slide block, the large moving slide block and the MRE passive compliance device together constitute the passive compliance device. System, the passive compliance device system is connected to the flange plate through the connecting flange.

Further, the load-bearing connection device is designed as a regular rectangular parallelepiped.

Further, the MRE passive compliance device includes an air guide channel, a support bolt, an upper rod, an upper air channel, a retaining ring, a thick MRE, an annular magnetic conductor, an excitation coil, a thin MRE, a suction cup, an air cavity, and a lower air channel. Baffle, wire, magnetic housing and magnetic lower rod.

Further, the support bolts are threadedly connected to the upper rod to lock the MRE passive compliance device on the support platform of the small moving slider.

Furthermore, the air guide channel is connected to the trachea. When exhausting, the air flow is led out from the air cavity through the lower air channel and the upper air channel. The upper rod is spherically connected to the magnetically conductive lower rod.

Further, the retaining ring is located outside the magnetic conductive shell to limit the displacement of the magnetic conductive shell. The MRE passive compliance device forms an excitation coil by winding wires around an annular magnetic conductor. The excitation coil is located on the thick MRE and between baffles.

Furthermore, the annular magnetic conductor, magnetic conductive shell, magnetic conductive lower rod and baffle of the MRE passive compliance device are all made of electromagnetic pure iron with high magnetic permeability, high magnetic saturation strength and low coercive force.

Further, the suction cup is made of rubber material.

Furthermore, the thick MRE and the thin MRE are both made of micron-sized carbonyl iron powder, natural rubber, vulcanizing agent, and plasticizer solidified under a magnetic field.

The present invention also adopts the following technical solution: a collaborative assembly method of a passive compliance device of a variable stiffness industrial robot. The steps are as follows: when dragging in free space, the operator applies external force to the adsorbed workpiece, the load-bearing connection device and the upper rod. The passive compliance performance of the MRE passive compliance device is considered when the operating force is used to adsorb the workpiece. The current intensity of the excitation coil is adjusted when dragging in free space, so that the key component thick MRE maintains high rigidity under the action of the magnetic field and keeps the baffle between the suction cup and the ring. Between the magnetic conductors, the end system of the robot exhibits high rigidity. The external force F1 exerted by the operator when adsorbing the workpiece can be transmitted to the robot's active compliance control model almost losslessly, causing the end of the robot to adsorb the workpiece to undergo a displacement of Δx, completing the free space. Drag.

The present invention also adopts the following technical solution: a collaborative assembly method of a passive compliance device of a variable stiffness industrial robot. The steps are as follows: When assembling in a non-strictly constrained space, that is, when assembling with a latch, the details are as follows:

1) Turn on the active compliance control according to the free space drag method, adjust the stiffness of the MRE passive compliance device, and after the operator drags the adsorbed workpiece to the approximate assembly point, turn off the active compliance control and the robot movement stops;

2) By reducing the current intensity of the excitation coil and reducing the magnetic field intensity, adjust the thick MRE from a high-rigidity state to a weak-rigidity state, and remove the baffle;

3) Utilize the flexibility of the MRE passive compliance device itself, combined with the force F1 exerted by the human hand and the assembly binding force F2, to cause a small displacement Δx _small of the adsorbed workpiece, so that the pin is passively and compliantly inserted into the hole to complete the assembly.

The present invention also adopts the following technical solution: a collaborative assembly method of a passive compliance device of a variable stiffness industrial robot. The steps are as follows: when assembling in a strictly tight constraint space, that is, when assembling along a trajectory, the details are as follows:

1) Before the adsorbed workpiece moves along the fixed trajectory, reduce the current intensity of the excitation coil, reduce the magnetic field intensity, adjust the thick MRE from a high rigidity state to a weaker rigidity state, and remove the baffle;

2) Turn on the active compliance control to make the adsorbed workpiece move along a fixed trajectory. The flexibility of the MRE passive compliance device is used to absorb the force perpendicular to the trajectory direction of the binding force F2 when moving along the trajectory and the unstable force in the human force F1 and the binding force F2. The deformation Δx _small caused consumes part of the force and kinetic energy;

3) After the consumption of the MRE passive compliance device, the force F input to the active compliance control model is relatively stable and continues to guide the robot end movement Δx displacement. At this time, the displacement of the adsorbed workpiece is Δx _small +Δx≈Δx, and the small deformation corrected by passive compliance , to prevent the adsorbed workpiece from colliding back and forth in the constrained space.

The present invention has the following beneficial effects: The present invention provides a passive compliance device and a cooperative assembly method for a variable stiffness industrial robot, which can adapt to different curved surfaces, Adsorption of workpieces of different sizes and weights. Its detachable and reconfigurable function makes it highly adaptable to different workpieces and highly flexible, and its load-bearing range can include light-loaded to heavy-loaded workpieces. In addition, by introducing MRE variable stiffness elements, the stiffness performance of the device can be controlled by changing the current control magnetic field, which can play different roles in each stage of assembly and reasonably meet the needs for flexibility and rigidity of the device in the human-machine collaborative drag and drop assembly process. .

Picture description:

Figure 1 is a schematic diagram of the overall system of the industrial robot hardware device of the present invention.

Figure 2 is a schematic diagram of the variable stiffness passive compliance device model of the present invention.

Figure 3 is a collaborative assembly scheme diagram of the present invention.

illustration:

Due to the existence of spherical connections, the cooperative assembly scheme diagram analyzed in Figure 3 is suitable for multi-suction cup adsorption situations, that is, the situation where the number of passive compliance devices is ≥ 3 and they are not collinear. For single suction cup and collinear suction cup adsorption situations, the passive compliance device exhibits weak variable stiffness characteristics and is generally considered a flexible device.

Detailed ways:

The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention.

The overall system of the industrial robot hardware device of the present invention includes a robot body 1, a control cabinet and a counterweight component 2, an AGV trolley 3, a connecting flange 4, a flange plate 5, a load-bearing connection device 6, a small moving slider 7, and a large moving slider. 8. MRE passive compliance device 9, adsorption workpiece 10, first slide rail 11 and second slide rail 12. Among them, the robot body 1, control cabinet and counterweight components 2 and AGV trolley 3 constitute the robot system. The connecting flange 4 is fixedly connected to the load-bearing connection device 6. The end of the robot system is provided with a flange 5. The small moving slider 7 and the large moving slider 8 serve as movable modules in the device, connecting the MRE passive compliance device 9 and the load-bearing connection device 6. The small movable slider 7 is equipped with a first slide rail bolt 701. The small movable slider 7 can adjust the height of the MRE passive compliance device 9 along the second slide rail 12 through the first slide rail bolt 701 to adapt to curved and irregular surface workpieces. adsorption. A second slide rail bolt 801 is installed on the large moving slide block 8 . The large moving slide block 8 can move the position of the MRE passive compliance device 9 on the load-bearing connection device 6 along the first slide rail 11 through the second slide rail bolt 801 . In order to adapt to the adsorption of workpieces of different sizes and weights, the large moving slider 8 can increase or decrease the number of MRE passive compliance devices 9 as appropriate, or move along the first slide rail 11.

The load-bearing connection device 6, the small moving slider 7, the large moving slider 8 and the MRE passive compliance device 9 together constitute a passive compliance device system. The passive compliance device system is connected to the flange plate 5 through the connecting flange 4. The load-bearing connection device 6 can The design can be customized according to the shape, size, weight and other characteristics of the adsorption workpiece 10. Generally, the load-bearing connection device 6 can be designed as a regular rectangular parallelepiped.

The MRE passive compliance device 9 includes an air guide channel 901, a support bolt 902, an upper rod 903, an upper air channel 904, a retaining ring 905, a thick MRE 906, an annular magnetic conductor 907, an excitation coil 908, a thin MRE 909, a suction cup 910, and an air chamber 911 , lower air channel 912, baffle 913, wire 914, magnetic conductive shell 915 and magnetic conductive lower rod 916.

The MRE passive compliance device 9 is fixedly connected to the load-bearing connection device 6 through the first slide rail bolt 701 and the second slide rail bolt 801. The support bolt 902 is threadedly connected to the upper rod 903 to lock the MRE passive compliance device 9 on a small moving slide. On the support platform 702 of block 7. The air guide channel 901 is used to connect the air pipe. When exhausting, the air flow can be led out from the air cavity 911 through the lower air channel 912 and the upper air channel 904. The upper rod 903 is spherically connected to the magnetically conductive lower rod 916 to facilitate the adjustment of the initial adsorption angle. Adapt to the shape of the workpiece. The retaining ring 905 is located outside the magnetically conductive shell 915 to limit the displacement of the magnetically conductive shell 915, so that the thick MRE906 can fully absorb the flexible deformation of the suction cup 910 and the thin MRE909 during passive compliance adjustment, thereby making the adsorbed workpiece in the work space The coordinates change. Since the variable stiffness characteristics of MRE need to be realized by the transformation of the magnetic field, the MRE passive compliance device 9 forms an excitation coil 908 by winding the wire 914 around the annular magnetic conductor 907. The excitation coil 908 is located between the thick MRE 906 and the baffle 913, creating Magnetic field conditions that can change the stiffness of thick MRE906.

The variable stiffness compliance adjustment of the MRE passive compliance device 9 is mainly derived from the variable stiffness characteristics of the thick MRE 906. Therefore, these components can also be equivalently replaced by other variable stiffness components. This patent only uses the MRE material as an example for explanation.

In terms of material selection, electromagnetic pure iron with high magnetic permeability, high magnetic saturation strength and low coercive force is selected for the annular magnetic conductor 907, the magnetic conductive shell 915 and the magnetic conductive lower rod 916 of the passive compliance device 9; the suction cup 910 is Rubber material; thick MRE906 and thin MRE909 are made of micron-sized carbonyl iron powder, natural rubber and vulcanizing agents, plasticizers and other additives that are cured under a magnetic field and are anisotropic; the remaining materials are made of non-magnetic steel.

The MRE passive compliance device 9 uses a vacuum suction cup to absorb the workpiece 10. As the air is discharged from the air chamber 911, the suction cup 910 shrinks. When multiple suction cups absorb and shrink, the suction cup 910 only undergoes slight deformation under the action of external force, which can be ignored. When dragging in the free space in the collaborative assembly plan diagram of Figure 3, the operator can apply external force to the adsorbed workpiece 10, the load-bearing connection device 6 and the upper rod 903.

Among them, the passive compliance performance of the MRE passive compliance device 9 needs to be considered when applying operating force to the adsorbed workpiece 10 . Since large-scale dragging in free space is unconstrained, the passive compliance effect needs to be eliminated or weakened so as not to interfere with the active compliance control process. The passive compliance performance of the MRE passive compliance device 9 is mainly controlled by the thick MRE906. Therefore, when dragging in free space The current intensity of the excitation coil 908 needs to be adjusted so that the key component MRE 906 maintains high rigidity under the action of the magnetic field, and the baffle 913 is kept between the suction cup 910 and the annular magnet conductor 907, so that the robot end system exhibits high rigidity, and the operator The external force F1 exerted on the adsorbed workpiece 10 can be transmitted to the robot's active compliance control model almost losslessly, causing the end of the robot to adsorb the adsorbed workpiece 10 to undergo a displacement of Δx, completing free space dragging. Since the latter two force application positions are rigidly connected to the end of the robot, they do not involve the passive compliance of the MRE passive compliance device 9 and meet the rigid drag requirements in free space.

In the non-strictly constrained space assembly shown in the collaborative assembly plan diagram in Figure 3, such as high-precision pin assembly, the assembly method at this time is:

1) Turn on the active compliance control according to the free space drag method, adjust the stiffness of the MRE passive compliance device 9, and after the operator drags the adsorbed workpiece to the approximate assembly point, turn off the active compliance control and the robot movement stops;

2) By reducing the current intensity of the excitation coil 908 and reducing the magnetic field intensity, the thick MRE 906 is adjusted from a high rigidity state to a weak rigidity state, where the weak rigidity state refers to the adsorption workpiece 10 passing through the MRE passive compliance device under the action of the operator's manpower F1 9After passive compliance, movement with a maximum displacement of 5 mm can occur. During this state adjustment process, the robot needs to remain stationary and take out the baffle 913;

3) Utilizing the flexibility of the MRE passive compliance device 9, the operator applies external force to the adsorbed workpiece to calibrate the hole position, and continuously adjusts the relative position between the holes during the plugging process to ensure a smooth plugging process. For the high-precision latch process, it is supported to use a hammer to hammer the pin tail to complete the assembly.

When assembling in a strictly tightly constrained space as shown in the collaborative assembly plan diagram in Figure 3, such as moving along the trajectory, the assembly strategy at this time is:

1) Before the adsorbed workpiece moves along a fixed trajectory, reduce the current intensity of the excitation coil 908, reduce the magnetic field intensity, and adjust the thick MRE906 from a high rigidity state to a weaker rigidity state, where the weaker rigidity state refers to the adsorption of the workpiece 10 under the operator's manual Under the action of F1, after passive compliance by the MRE passive compliance device 9, tiny movements with a displacement of no more than 3mm can occur. During this state adjustment process, the robot needs to remain stationary and take out the baffle 913;

2) Turn on the active compliance control to make the adsorbed workpiece 10 move along a fixed trajectory. The flexibility of the passive compliance device 9 is used to absorb the force perpendicular to the trajectory direction of the binding force F2 when moving along the track and the instability in the human force F1 and the binding force F2. The deformation Δx _small caused by force consumes part of the force and kinetic energy.

3) After the consumption of the passive compliance device 9, the force F input to the active compliance control model is relatively stable and continues to guide the robot end movement Δx displacement. At this time, the displacement of the adsorbed workpiece 10 is Δx _small +Δx≈Δx, and the passive compliance correction is small. Deformation to prevent the adsorbed workpiece from colliding back and forth in the constraint space.

The above are only preferred embodiments of the present invention. The protection scope of the present invention is not limited to the above-mentioned embodiments. All technical solutions that fall under the idea of the present invention belong to the protection scope of the present invention. It should be pointed out that for those of ordinary skill in the art, several improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims (7)

1. A variable-rigidity passive compliance device of an industrial robot is characterized in that: the industrial robot passive compliance device with variable rigidity comprises a robot body (1), a control cabinet and a counterweight element (2), an AGV trolley (3), a connecting flange (4), a flange plate (5), a bearing connecting device (6), a small moving slide block (7), a large moving slide block (8), an MRE passive compliance device (9), an adsorption workpiece (10), a first slide rail (11) and a second slide rail (12), wherein the robot body (1), the control cabinet and the counterweight element (2) and the AGV trolley (3) form a robot system, the connecting flange (4) is fixedly connected to the bearing connecting device (6), the tail end of the robot system is provided with the flange plate (5), the small moving slide block (7) and the large moving slide block (8) are connected with the passive compliance device (9) and the bearing connecting device (6), a first slide rail bolt (701) is arranged on the small moving slide block (7), the small moving slide block (7) adjusts the height of the passive compliance device (9) along the second slide rail (701) through the first slide rail (701), the large moving slide block (8) is provided with the second slide rail (801), the large moving slide block (8) moves the position of the MRE passive compliant device (9) on the bearing connecting device (6) along the first slide rail (11) through the second slide rail bolt (801), and the bearing connecting device (6), the small moving slide block (7), the large moving slide block (8) and the MRE passive compliant device (9) jointly form a passive compliant device system, and the passive compliant device system is connected with the flange plate (5) through the connecting flange (4);

the bearing connecting device (6) is designed into a regular cuboid;

the MRE passive compliance device (9) comprises an air guide channel (901), a supporting bolt (902), an upper rod (903), an upper air channel (904), a retainer ring (905), a thick MRE (906), an annular magnetizer (907), an exciting coil (908), a thin MRE (909), a sucker (910), an air cavity (911), a lower air channel (912), a baffle (913), a wire (914), a magnetic conductive shell (915) and a magnetic conductive lower rod (916);

the support bolt (902) is in threaded connection with the upper rod (903) so as to lock the MRE passive compliant device (9) on a support table (702) of the small movable slide block (7);

the air guide channel (901) is connected with an air pipe, air flow is led out from the air cavity (911) through the lower air channel (912) and the upper air channel (904) during air exhaust, and the upper rod (903) is in spherical connection with the magnetic conduction lower rod (916);

the check ring (905) is located on the outer side of the magnetic conduction shell (915) and used for limiting displacement of the magnetic conduction shell (915), the MRE passive compliance device (9) forms an excitation coil (908) in a mode that a lead wire (914) is wound on an annular magnetic conductor (907), and the excitation coil (908) is located between the thick MRE (906) and the baffle plate (913).

2. The variable stiffness industrial robot passive compliance device of claim 1, wherein: the annular magnetizer (907), the magnetic conductive shell (915), the magnetic conductive lower rod (916) and the baffle plate (913) of the MRE passive compliant device (9) are all made of electromagnetic pure iron with high magnetic conductivity, high magnetic saturation strength and low coercivity.

3. The variable stiffness industrial robot passive compliance device of claim 2, wherein: the suction cup (910) is made of rubber material.

4. A variable stiffness industrial robot passive compliance device as set forth in claim 3, wherein: the thick MRE (906) and the thin MRE (909) are formed by solidifying micron-sized carbonyl iron powder, natural rubber, vulcanizing agent and plasticizer under a magnetic field.

5. A method of collaborative assembly of a variable stiffness industrial robot passive compliance apparatus in accordance with any one of claims 1-4, wherein: the method comprises the following steps: when free space is dragged, an operator applies external force to the adsorption workpiece (10), the bearing connecting device (6) and the upper rod (903), the passive compliance performance of the MRE passive compliance device (9) is considered when the external force is applied to the adsorption workpiece (10), the current intensity of the exciting coil (908) is adjusted when the free space is dragged, so that the thick MRE (906) keeps high rigidity under the action of a magnetic field, the baffle plate (913) is kept between the sucker (910) and the annular magnetizer (907), the robot system is enabled to be high in rigidity, the external force F1 applied by the operator on the adsorption workpiece (10) can be transmitted to the active compliance control model of the robot in a nearly lossless mode, the tail end of the robot is enabled to absorb displacement of the adsorption workpiece (10), and the free space dragging is completed.

6. A method of collaborative assembly of a variable stiffness industrial robot passive compliance apparatus in accordance with any one of claims 1-4, wherein: the method comprises the following steps: when the non-strict tight constraint space is assembled, namely the high-precision bolt is assembled, the concrete steps are as follows:

1) According to the free space dragging method, the active compliance control is started, the rigidity of the MRE passive compliance device (9) is regulated, after an operator drags an adsorption workpiece to a rough assembly point, the active compliance control is closed, and the movement of the robot is stopped;

2) Reducing the magnetic field strength by reducing the current strength of the exciting coil (908), adjusting the thick MRE (906) from a high-rigidity state to a weak-rigidity state, and taking out the baffle plate (913);

3) The small displacement delta x of the adsorbed workpiece is generated by utilizing the flexibility of the MRE passive compliance device (9) and combining the applied external force F1 and the assembly constraint force F2 _small So that the pins are passively compliant inserted into the holes to complete the assembly.

7. A method of collaborative assembly of a variable stiffness industrial robot passive compliance apparatus in accordance with any one of claims 1-4, wherein: the method comprises the following steps: when the tight constraint space is assembled, namely, assembled along the track motion, the method is concretely as follows:

1) Before the adsorbing workpiece (10) moves along the fixed track, reducing the current intensity of the exciting coil (908), reducing the magnetic field intensity, adjusting the thickness MRE (906) from a high-rigidity state to a weaker-rigidity state, and taking out the baffle plate (913);

2) The active compliance control is started to enable the adsorption workpiece (10) to move along a fixed track, and the flexibility of the MRE passive compliance device (9) is used for absorbing the force, perpendicular to the track direction, of the restraining force F2 during the track movement and the deformation deltax caused by the applied external force F1 and the unstable force in the restraining force F2 _small Consuming a part of force and kinetic energy;

3) The force F input into the active compliance control model is stable after the consumption of the MRE passive compliance device (9), and the displacement of the movement delta x of the tail end of the robot is continuously guided, and the displacement of the adsorption workpiece (10) is delta x at the moment _small And the +Deltax is approximately equal to Deltax, and small deformation is corrected by passive compliance, so that the adsorbed workpiece is prevented from colliding back and forth in a constraint space.