基于旋量的机器人双轴孔装配接触分析

Contact Analysis in Robot Double Peg-in-Hole Assembly with Screw

利用旋量法对机器人装配过程的点接触、面接触的力约束进行理论分析 .以双轴孔装配为例 ,分析了接触状态 ,计算了接触力 ,从而确定装配策略 .旋量法比常规的几何方法简洁 .

This paper analyzed the force constraint about the point and face contact in the robot automatic assembly with the screw method. It gains a rule that can analyze the point contact states of double peg in hole. Then, it calculates the contact force and determines the assembly strategies. The screw method is simpler than the common geometric method. It provides some helpful information for complex parts assembly research.