摘要
基于零件装配理论分析，本文提出了任意凸形销孔零件及多凸形销孔零件的装配策略，并开发了一个机器人装配系统．它由一个新研制的带有力功能机器人末端微操作器和ＰＵＭＡ５６２机器人组成．不同以往的设计，此微操作器主动调整与被动柔顺结合为一体，本装配系统能完成任意凸形销孔零件沿任意方向的装配作业．本文给出了典型的实验结果．
The elastic characteristic of a robot system can generally be modelled by a 6×6 stiffness or compliance matrix. Employing theory of screw,we study the elastic characteristics of robot systems. Stationary values of compliance and stiffness are determined on the basis of minimum energy principle. The analysis involves naturally the concept of center of elasticity. All these simplify the understanding of complex elastic properties.
出处
《机器人》
EI
CSCD
北大核心
1997年第4期300-305,共6页
Robot
基金
黑龙江省自然科学基金
机械工业部教育司基金
关键词
装配策略
零件装配
零件
机器人
Theory of screw, wrench, twist, screw center of compliance, reciprocal system
