机构地区: 华南理工大学机械与汽车工程学院机械电子工程系
出 处: 《光学精密工程》 1998年第5期46-52,共7页
摘 要: 从螺纹的主要几何参数及其配合公差入手,分析机器人螺纹柔性装配初始旋合状态的几何过程,推导出决定机器人夹持器转动中心位置偏差范围内、外螺纹配合零件间允许位置和角度偏差的数学表达式,它对夹持器柔顺度的设计和机器人主动位置调整和控制技术的研究起到重要的指导作用。 Studying form the main geometric parameters and matching tolerance of screws,this paper analyses the geometric process of the early screwing state on flexible assemblies of screws with robots,obtains the mathematics expressions of allowable deviation of positions and angles between screw mating parts,which restrict the deviation area of the rotation center position of robot clip devices.The results of the paper play an improtant guiding role for the flexibility design of robot clip devices and the active position adjustment and control technology of robot.