摘要
机器人化装配已成为机器人研究与应用的一个热点．１０年前，文献［１］已就此作了综述，本文旨在补充这以后的新成果．首先，简单介绍各种装配机器人和装配设计方法．然后对手腕的各种高精度插轴入孔措施，尤其是高速装配控制进行了详述．文末提出了一些研究方向．
Robotic assembly is a new limelight of robotic application. Although surveyed this topic ten years ago, we attempt to supplement the accomplishments to follow. In this presentation, a brief account of robots for assembly and design for assembly is first given. Further, we elabrate on the various measures which surround wrist aiming to achieve high precision peg in hole assembly, and importance is attached to dynamic assembly. In the last part some research directions of value are put forward as well. Owing to limited space, coverage is extensive rather than intensive.
出处
《机器人》
EI
CSCD
北大核心
1998年第2期153-160,共8页
Robot
基金
国家自然科学基金
关键词
机器人化装配
装配机器人
工业机器人
Robotic assembly, assembly robot, design for assembly(DFA), coarse fine operation, active accommodation, passive accommodation, compound accommodation, dynamic assembly
