摘要
以凸多面体为装配对象,分析装配操作过程中装配对象的几何特性.提出了二元素的几何表示法,进行装配对象的空间描述,并分析了装配对象间的允许运动方向、几何约束特征及几何不确定性.用二元素几何表示法分析不确定性条件下装配对象的几何特性,简化了误差情况下装配对象各几何元素的数学表达式.本文内容是机器人装配操作过程分析与建模的基体.
The assembly objects were described with convex polyhedron. Geometric features of the assembly objects were analyzed. The two-element method was proposed. Then, the admissible motion direction, geometric constraint conditions and geometric uncertainty were analyzed. The geometric features of the assembly objects with uncertainty were analyzed by the two-element method, which simplifies the equations of boundary components with errors. All those provide the foundation of assembly process.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2003年第11期1683-1686,共4页
Journal of Shanghai Jiaotong University
基金
国家高技术研究发展计划(863)项目(863-512-98-04)
关键词
装配
几何特性
约束
不确定性
Constraint theory
Error analysis
Process control
Uncertain systems
