| 典型非圆孔轴自动装配运动分析 |
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| 引用本文： | 王显衔.典型非圆孔轴自动装配运动分析[J].南京理工大学学报(自然科学版),1996,20(3):269-272. |
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| 作者姓名： | 王显衔 |
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| 作者单位： | 南京航空航天大学机电工程学院 |
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| 基金项目： | 国家高技术装配机器人网点基金 |
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| 摘 要： | 该文采用截面分析和齐次坐标变换的方法，分析典型非圆孔轴装配过程及其特点，讨论位置和角度误差对装配过程的影响以及几何约束条件，揭示非圆孔轴自动装配过程的困难性及其原因。分析表明，与普通圆形孔轴相比较，非圆孔轴插入过程有两个重要特征：一是多点接触，干扰和阻力大；二是周向角度误差是影响插入过程的制约因素。
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| 关 键 词： | 机器人 装配 操作 非圆孔轴 运动分析 |
Analysis of Kinematics of Automatical Assembly for Typical Non-round Peg-holes |
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| Wang Xianxian.Analysis of Kinematics of Automatical Assembly for Typical Non-round Peg-holes[J].Journal of Nanjing University of Science and Technology(Nature Science),1996,20(3):269-272. |
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| Authors: | Wang Xianxian |
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| Abstract: | This paper analyzes inserting process for typical non-round peg-holes and its characters, using analysis of sections and method of homogeneous coordinate transformation. Influencing factors and restricting conditions are discussed in the paper. The paper expounds difficulties of automatical insertion and its causes. Compared with general round pod-holes, inserting process for non-round peg-holes has two important characters: (1)multiple touch points; (2) angle errors in round are factors influencing inserting process. |
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| Keywords: | automation robot assembling(machinery) operation |
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