三维多轴孔装配几何约束

Geometric Constraints for Multiple Peg-in-Hole in Three Dimensions

针对三维三轴孔装配 ,用纯几何法分析了装配的几何特性 ,建立产生接触状态的几何约束方程 ;用最大角较优下降算法来判断运动方向 ,为三维多轴孔装配提供了理论依据 。

Pure geometric analysis of the triple peg in hole was presented in three dimensions. Firstly, the geometric conditions for each contact state are derived. Then the motion direction is presented with the steeper descent method of the maximum angle. Those provide the theoretical foundation for the three dimensional multiple peg in hole assembly and are also the basis of virtual assembly algorithm.