The invention discloses a compliant
assembly system and method that integrates three-dimensional vision and
contact force analysis, establishes a compliant
assembly platform that integrates three-dimensional vision, a six-dimensional
force sensor, and a six-degree-of-freedom
robot system. Convert it into the position information of the
assembly point, and then calibrate the position through the hand-eye relationship
processing mechanism, so that the control mechanism of the assembly
robot can accurately formulate the action. During the action execution process, by establishing an accurate
mathematical model, and then solving the parameters through the collected data , the data pairs collected under different conditions will be used to
train the neural
network model and establish its mapping relationship, to achieve accurate prediction of force and moment, and after the prediction, accurately analyze whether the assembly is accurate through the force of the
large aspect ratio shaft during the assembly process There are deviations, thereby providing analytical support for precise control of assembly movements.