Impedance-Controlled Compliant Assembly Technology for Large-Scale Components

To meet the high-precision and automated requirements for the insertion assembly between large-scale components and non-cooperative outer shells, an impedance-controlled large-component insertion assembly technology, namely compliant insertion assembly technology, is proposed. This paper explains the working principle of the technology from a theoretical perspective, elaborates on two key technical aspects—pose control and force-following control based on a parallel mechanism—and conducts horizontal insertion assembly simulation for components. The simulation results demonstrate that force-following control via the parallel mechanism can reduce the axial pose accuracy error between the component and the shell by more than 85%, meeting the pose accuracy requirements for insertion assembly. It is also verified that force-following control can adjust the pose of the shell in real time based on the coaxiality between the component and the shell, satisfying the minor deformation requirements during the insertion assembly process.