机器人多轴孔变形装配分析设计

Design of Robotic Multi-peg-in-hole Deformable Assembly

以电机套筒压入旋动球体的三轴孔插入多面约束变形装配为例 ,进行多轴孔装配方案设计、装配过程分析。根据装配件的结构特性 ,采用一种新装配方法 -在特殊机构三导杆上完成装配动作 ,设计了多轴孔装配机 ,并说明了其结构和动作 。

Multi-peg-in-hole deformable assembly is a complex assembly task. However, little research is done in this field. According to our project three-peg-in-hole tight assembly, we design assembly programme, analyze assembly process and discuss the feature of the deformable objects. The force formula is obtained. From that we can get other equipments' information. Then a new assembly method is used, so the assembly action can be finished on three special leaders, which is different from the common assembly method. The multi-peg-in-hole assembly machine is designed and its structure and function are discussed, which is very useful to the complex assembly in our future research.