存在振动和夹持器旋转的机器人装配的数学模型

Assembling in Mechanical Engineering and Instrument-Making Pub Date : 2020-07-01 DOI:10.36652/0202-3350-2020-21-7-299-304

M. V. Vartanov, T. T. Tran

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引用次数: 1

摘要

考虑了旋转运动和振动作用下的装配方法。旋转的存在可以显著减少连接中的摩擦力，从而防止组装过程。利用机器人夹持器的旋转和振动装置来达到这一效果。建立了机器人装配过程的数学动力学模型

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Mathematical model of a robotized assembly in the presence of vibrations and gripper rotation

The assembly method using the effect of rotational motion and vibration is considered. The presence of rotation allows to signifi cantly reducing the friction force in connection, which prevents the assembly process. The effect is achieved due to using the rotation of robot gripper and the vibrating device. A mathematical dynamics model of the robotic assembly process is presented

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Assembling in Mechanical Engineering and Instrument-Making

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