无倒角轴孔装配过程的几何与力学分析

GEOMETRIC AND MECHANICAL ANALYSIS OF UNCHAMFER PEG IN HOLE ASSEMBLY PROCESS

  • 摘要: 本文对无倒角插轴入孔装配过程中工件几何尺寸与受力情况进行了详尽的分析,推导出一点接触和两点接触时,轴与孔的位置和角度偏差表达式,轴在孔中发生卡阻和楔紧状态的力学方程,给出了卡阻图和避免卡阻及楔紧发生的条件.本文提供的数学模型和约束条件是机器人装配作业中力-运动轨迹控制策略的理论依据.

     

    Abstract: This paper analyzes part's geometry and forces of unchamfer peg in hole in detail. The mathematical expressions of position and orientation error between unchamfer peg and hole in the situation of onepoint contact and two-point contact are calculated. The mechanical equations of resistance and jamming,as well as the resistance and jamming chart and the terms of avoided resistance and jamming are also given in this paper. The mathematical models and restrain terms given in this paper are the theoritical basis for forcemotion planning in robot assembly tasks.

     

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