| 三维多轴孔装配几何约束 |
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| 引用本文： | 费燕琼,赵锡芳,王建平.三维多轴孔装配几何约束[J].上海交通大学学报,2002,36(3):293-296. |
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| 作者姓名： | 费燕琼 赵锡芳 王建平 |
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| 作者单位： | 上海交通大学,机器人研究所,上海,200030 |
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| 基金项目： | 国家“8 6 3”高技术计划资助项目 ( 86 3-5 12 -98-0 4) |
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| 摘 要： | 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，同时是虚拟装配算法的基础。
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| 关 键 词： | 三维多轴孔装配 几何约束 接触状态 |
| 文章编号： | 1006-2467(2002)03-0293-04 |
| 修稿时间： | 2001年3月16日 |
Geometric Constraints for Multiple Peg-in-Hole in Three Dimensions |
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| FEI Yan qiong,ZHAO Xi fang,WANG Jian ping.Geometric Constraints for Multiple Peg-in-Hole in Three Dimensions[J].Journal of Shanghai Jiaotong University,2002,36(3):293-296. |
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| Authors: | FEI Yan qiong ZHAO Xi fang WANG Jian ping |
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| Abstract: | 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. |
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| Keywords: | peg in hole geometric constraints contact state |
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