林建亚, 赵福良. 柔性手腕装配作业分析及实验研究[J]. 机器人, 1988, 10(2): 6-11.
引用本文: 林建亚, 赵福良. 柔性手腕装配作业分析及实验研究[J]. 机器人, 1988, 10(2): 6-11.
LIN Jianya, ZHAO Fulian. An Analytical and Experimental Study of the Assembly Task of Flexible Wrists[J]. ROBOT, 1988, 10(2): 6-11.
Citation: LIN Jianya, ZHAO Fulian. An Analytical and Experimental Study of the Assembly Task of Flexible Wrists[J]. ROBOT, 1988, 10(2): 6-11.

柔性手腕装配作业分析及实验研究

An Analytical and Experimental Study of the Assembly Task of Flexible Wrists

  • 摘要: 本文采用矢量表示法分析了柔性手腕轴-孔插入过程中插入力的计算,实验表明理论计算值与实际测量值良吻合.在文中,还分析了插入过程中的“卡阻”、“楔紧”现象,提出了为使插入作业顺利进行应该保证的条件.

     

    Abstract: In this paper,calculation of the peg-in-hole inserting force of a flexible wrist isanalyzed in vector form.It is shown that there is a good agreement between theore-tical and experimental results.The phenomena "Block " and "Wedge ",that ought tobe considered in the part-mating procedure is discussed.Lastly,the conditions thatmust be ensured for easy carrying on of inserting operations are also given.

     

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