摘要
提出了任意凸形销孔零件及多凸形销孔零件的装配策略，并研制了带有力功能机器人末端微操作器和PUMA562机器人组成的装配系统．实验结果表明，本装配系统能完成任意凸形销孔零件沿任意方向的装配作业．
The assembly strategy of the arbitrary convex peg-hole parts and multiplepeg-hole parts is put forward, and an assembly system is developed, which consists of a mewlydeveloped robotic end dricrooperator with the force function and PUMA562 robot, and combinesactive acconunodation and passive compliance. Practical use show ed that the system can carryout arbitrary convex peg-hole parts assembly operations along any direCtion.
出处
《哈尔滨理工大学学报》
CAS
1999年第4期30-34,共5页
Journal of Harbin University of Science and Technology
基金
黑龙江省自然科学基金
机械工业部教育司基金
关键词
装配
机器人
异形销孔零件
macro-micro manipulation, active accommodation
passive compliance
assembly
