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<p>装配工序里，能不能控住力，往往决定了良率。常见做法有几条，各有适配场景。</p><h3>四条常见路径</h3><table style="width:100%;border-collapse:collapse;margin:10px 0;font-size:14px"><tr><th style="border:1px solid #e5e6eb;padding:6px 8px;background:#f7f9fc;text-align:left">路径</th><th style="border:1px solid #e5e6eb;padding:6px 8px;background:#f7f9fc;text-align:left">原理</th><th style="border:1px solid #e5e6eb;padding:6px 8px;background:#f7f9fc;text-align:left">适配场景</th></tr><tr><td style="border:1px solid #e5e6eb;padding:6px 8px">电流环估算</td><td style="border:1px solid #e5e6eb;padding:6px 8px">由电机电流推算接触力</td><td style="border:1px solid #e5e6eb;padding:6px 8px">对精度要求一般的插装</td></tr><tr><td style="border:1px solid #e5e6eb;padding:6px 8px">关节力矩传感</td><td style="border:1px solid #e5e6eb;padding:6px 8px">各关节装力矩传感器</td><td style="border:1px solid #e5e6eb;padding:6px 8px">需要柔顺控制的复杂装配</td></tr><tr><td style="border:1px solid #e5e6eb;padding:6px 8px">末端六维力传感</td><td style="border:1px solid #e5e6eb;padding:6px 8px">手腕处测量三向力与力矩</td><td style="border:1px solid #e5e6eb;padding:6px 8px">精密插装、打磨、去毛刺</td></tr><tr><td style="border:1px solid #e5e6eb;padding:6px 8px">被动柔顺装置</td><td style="border:1px solid #e5e6eb;padding:6px 8px">弹性结构吸收偏差</td><td style="border:1px solid #e5e6eb;padding:6px 8px">位置偏差较大的轴孔装配</td></tr></table><h3>选型建议</h3><ul><li>先明确需要控的是力的大小、方向还是力矩。</li><li>考虑是否需要力位混合控制与快速切换。</li><li>把标定与维护成本算进总投入。</li></ul><p style="color:#6b7280;font-size:13px">实际效果受工装、节拍与标定水平影响，建议用现场试做验证。</p>

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