基于定位图优化的机器人装配可靠性研究

Assembling in Mechanical Engineering and Instrument-Making Pub Date : 2020-08-01 DOI:10.36652/0202-3350-2020-21-8-339-343

M. Vartanov, V. Petrov, O. V. Troshina

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引用次数: 0

摘要

对“轴衬套”型圆柱形零件机器人装配中的被动自适应定位图和硬基定位图进行了比较。在准静态环境下，利用机器人装配的原始模型对问题进行了物理实验和解析求解，并对结果进行了比较。确定了耦合过程中在接触点处发生的反应。

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Improving the reliability of robotic assembly based on optimization of locating charts

A comparison of locating charts with passive adaptation and hard basing for robotic assembly of cylindrical parts of the "shaft—bushing" type is presented. The results of a physical experiment and an analytical solution to the problem using the original models of the robotic assembly in a quasistatic setting are compared. The reactions at the contact points that occur during the coupling process are determined.

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Assembling in Mechanical Engineering and Instrument-Making

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