王显衔. 非圆孔轴机器人装配方法的研究[J]. 机器人, 1997, 19(2): 134-138.
引用本文: 王显衔. 非圆孔轴机器人装配方法的研究[J]. 机器人, 1997, 19(2): 134-138.
WANG Xianxian. RESEARCH OF ROBOTIC ASSEMBLY METHODS FOR NON-ROUND PEG HOLES[J]. ROBOT, 1997, 19(2): 134-138.
Citation: WANG Xianxian. RESEARCH OF ROBOTIC ASSEMBLY METHODS FOR NON-ROUND PEG HOLES[J]. ROBOT, 1997, 19(2): 134-138.

非圆孔轴机器人装配方法的研究

RESEARCH OF ROBOTIC ASSEMBLY METHODS FOR NON-ROUND PEG HOLES

  • 摘要: 带键孔轴是工业上广泛应用的非圆形孔轴,与普通圆形孔轴相比,带键孔轴的插入过程比较复杂和困难.本文对非圆孔轴被动法装配过程中的几何关系和力学关系进行了分析,导出了插入力的计算公式.该公式表明,由于周向角度误差的存在,装配过程中增加了一个附加的插入力.为减少装配过程的插入力,除正确设计柔顺装置处,本文提出如下两种方法:(1)刚度串联,(2)设立辅助自由度.理论分析和实验表明,以上两种方法对保证插入过程的顺利进行是有效的.

     

    Abstract: Peg-holes with key are non-round peg-holes in industrial applications.Compared with round peg-holes,assembly processes for non-round peg-holes are complex and difficult.This paper analyzes geometric relations and force relations in assembly process.Calculative formulation of inserting forces is given.The formulation shows that a additional inserting force is applied.In order to reduce the inserting forces,this paper presents two methods: stiffness series and seting auxiliary freedom.Theoretic analyses and texts show that the methods above are efficient for reducing inserting forces.

     

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