摘要
装配作业是一种精细复杂的智能控制作业.机器人化装配需要知识与判断的支持.本文阐述了装配作业的目标、主要装配关系和装配动作.给出了一组有关零部件拆卸装配的基本规则.探讨了约束的一种表征和移动拆卸的判断算法,在二维平面内验证了判断算法的可行性,给出了判断框图及源程序.
Assembly is a kind of dextrous,complex and intelligent controlled operation.Robotized assembly needsrule and decision supports.The goal of assembly,main relations and movements of assembly are presented inthis paper.Some basic rules about disassembly and assembly of component parts are given.Constraint repre-sentation and a decision algorithm on linear disassembly are discussed.The algorithm was verified with a twodimension problem,the block diagram and the source program are also presented.
出处
《机器人》
EI
CSCD
北大核心
1993年第3期18-22,共5页
Robot
关键词
机器人化装配
规则
约束
判断
robotized assembly
rule
constraint
decision
