摘要
Based on an analysis of the relative shaft-to-hole position and attiude errors, as well as of the mechanics and Kinematics in the process of automatic assembly of industrial robots, the paper studies the principle of construction of dynamic wrists. Type I-3 and Ⅱ-6 dynamic compliant wrists have been designed and made. Prblems in the production of compliant elements and the connection between compliant elements and wrists were also solved. A study on the results of tests of the function of two kinds of dynamic compliant wrists shows that the dynamic compliant wrist's compliancy function can be improved by adding metallic materials having higher longitudinal and transverse rigidity into the softer elstomer. And the design Principle is proved to be feasible and practicable. It can be expected that the use of dynamic compliant wrist will greatly lower the technical requirements of the shaft-hole assembly and the requirements in the resetting accuracy.
本文在对工业机器人自动装配过程中的轴孔相对位姿误差、力学和运动学进行分析研究的基础上，对动柔顺手腕结构原理作了深入探讨，设计、研制了一级三件和二级六件两种实用型动柔顺手腕，解决了柔顺件的制造和柔顺件与手腕的联结问题．通过对二种动柔顺手腕性能测试结果的研究，可以认为在软橡胶中加入纵向和径向刚度比值大的金属材料，可以提高动柔顺手腕的柔顺性能．实验测试表明所设计动柔顺手腕原理的可行性、实用性．可以预见动柔顺手腕的应用将大大降低对轴孔装配工艺性和装配机器人的重复定位精度的要求，从而降低机器人的制造成本，以利推广应用．
基金
国家自然科学基金
