尤波, 张永军, 蔡鹤皋. 任意凸形销孔零件及多销孔零件装配策略与实验研究[J]. 机器人, 1997, 19(4): 300-305.
引用本文: 尤波, 张永军, 蔡鹤皋. 任意凸形销孔零件及多销孔零件装配策略与实验研究[J]. 机器人, 1997, 19(4): 300-305.
YOU Bo, ZHANG Yongjun, CAI Hegao. RESEARCH ON ASSEMBLY STRATEGIES AND EXPERIMENT FOR ARBITRARY CONVEX PEG HOLE PARTS AND MULTIPLE PEG HOLE PARTS[J]. ROBOT, 1997, 19(4): 300-305.
Citation: YOU Bo, ZHANG Yongjun, CAI Hegao. RESEARCH ON ASSEMBLY STRATEGIES AND EXPERIMENT FOR ARBITRARY CONVEX PEG HOLE PARTS AND MULTIPLE PEG HOLE PARTS[J]. ROBOT, 1997, 19(4): 300-305.

任意凸形销孔零件及多销孔零件装配策略与实验研究

RESEARCH ON ASSEMBLY STRATEGIES AND EXPERIMENT FOR ARBITRARY CONVEX PEG HOLE PARTS AND MULTIPLE PEG HOLE PARTS

  • 摘要: 基于零件装配理论分析,本文提出了任意凸形销孔零件及多凸形销孔零件的装配策略,并开发了一个机器人装配系统.它由一个新研制的带有力功能机器人末端微操作器和PUMA562机器人组成.不同以往的设计,此微操作器主动调整与被动柔顺结合为一体,本装配系统能完成任意凸形销孔零件沿任意方向的装配作业.本文给出了典型的实验结果.

     

    Abstract: Based on the review of the parts mating theory,this paper presents an assembly strategy for arbitrary convex peg hole parts and multiple peg hole parts and an assembly system which consists of a newly developed robotics and manipulator with the force function and PUMA562 robot.Different from common design,this micro manipulator combines both active accommodation and passive compliance in one.The system can carry out arbitrary convex peg hole parts assembly operations along any direction.Typical experiment results are presented at the end of the paper.

     

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