| 机器人三维多轴孔装配接触力建模 |
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| 引用本文： | 费燕琼,赵锡芳. 机器人三维多轴孔装配接触力建模[J]. 上海交通大学学报, 2003, 37(5): 703-705 |
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| 作者姓名： | 费燕琼 赵锡芳 |
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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： | 国家高技术研究发展计划 (863 )项目 (863 -5 12 -982 0 -0 4) |
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| 摘 要： | 提出的二元素法可简洁地描述装配件的特征，并利用旋量法和广义单位位移法对机器人三维三轴孔装配过程中的接触力进行理论分析，得到了接触点位置、法矢量．计算了接触力，解决了冗余性问题．
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| 关 键 词： | 机器人装配 接触力 多轴孔 |
| 文章编号： | 1006-2467(2003)05-0703-03 |
| 修稿时间： | 2002-05-30 |
Modeling of Contact Force in Robot Multiple Peg-in-Hole in Three Dimensions |
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| FEI Yan qiong,ZHAO Xi fang. Modeling of Contact Force in Robot Multiple Peg-in-Hole in Three Dimensions[J]. Journal of Shanghai Jiaotong University, 2003, 37(5): 703-705 |
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| Authors: | FEI Yan qiong ZHAO Xi fang |
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| Abstract: | A two element method was proposed to describe features of assembly objects in brief. This paper analyzed the contact force of robot multiple peg in hole in three dimensions with screw method and generalized unit displacement method. The positions and normal vectors of the contact points can be obtained, the contact forces can be calculated and the redundant problem can be solved. |
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| Keywords: | robot assembly contact force multiple pegin hole |
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