摘要
本文对柔顺装配中轴、孔位姿偏差和装配力变化规律进行了分析；对装配中一些非正常情况提出了解释；提出了装配作业的可行域；指出了改善装配作业的可能途径。本文所提出的数学模型和约束条件不仅是研究各类外部柔顺技术的理论基础，而且也是研究力－运动轨迹控制策略的理论依据。
In this paper the variation of rigid part’s pose errors and assembly forces during the compliantassembly process are analysed.The paper explains the unnormal situation of peg- in hole assembly and dis-cusses the feasible region to perform assembly. The practical way to improve the assembly effects are sug-gested.The mathematic models and constraints given in the paper not only are the theoretical basis of force-mo-tion planning in robotic assembly task,but also serve as the foundation of the research of all kinds of externalcompliance technology.
出处
《机器人》
EI
CSCD
北大核心
1994年第1期1-7,共7页
Robot
