基于凸多面体边界元的接触状态判断

JUDGING ASSEMBLY CONTACT STATES BASED ON BOUNDARY COMPONENTS OF CONVEX POLYHEDRON

机器人装配操作状态可用装配对象间的接触状态描述。根据凸多面体几何模型边界元给出了三种基本接触对在运动(平移或转动)方向上的最小位移计算方法,首次详细分析了基本接触对在旋转情况下的最小角度生成方法,并得出了计算公式。此方法可用来判断下一运动时刻产生的接触状态关系对。最后以三维三轴孔装配状态仿真为例,验证了该方法的可行性。

Robot assembly states can be described by contact states between two assembly objects. In the motion direction, the minimum distances and angles between three basic kinds of contact pairs with boundary components of convex polyhedron are obtained. Some formulas are usable. The method can be used to judge contact states in the next moment. The example of a triple peg-in-hole verifies the analyses.