The Assembling Ability Geometric Analysis of Flexible Assemblies of Screws with Robots

LI Xiu-Feng; LIU Gui-Xiong; XIE Cun-Xi; LI Wan-Xue

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The Assembling Ability Geometric Analysis of Flexible Assemblies of Screws with Robots

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- The Assembling Ability Geometric Analysis of Flexible Assemblies of Screws with Robots
- Optics and Precision Engineering Vol. 6, Issue 5, Pages: 46-52(1998)
- 作者机构：
  
  华南理工大学机电工程系广州,510640
- 作者简介：
- 基金信息：
- DOI：
  CLC：
- Received：25 May 1998，
  
  Revised：16 June 1998，
  
  Published Online：15 October 1998，
  
  Published：15 October 1998
- 稿件说明：
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李绣峰, 刘桂雄, 谢存禧, 李玩雪. 机器人螺纹柔性装配中螺纹可装配性的几何分析[J]. 光学精密工程, 1998,(5): 46-52

LI Xiu-Feng, LIU Gui-Xiong, XIE Cun-Xi, LI Wan-Xue . The Assembling Ability Geometric Analysis of Flexible Assemblies of Screws with Robots[J]. Editorial Office of Optics and Precision Engineering, 1998,(5): 46-52
李绣峰, 刘桂雄, 谢存禧, 李玩雪. 机器人螺纹柔性装配中螺纹可装配性的几何分析[J]. 光学精密工程, 1998,(5): 46-52 DOI：

LI Xiu-Feng, LIU Gui-Xiong, XIE Cun-Xi, LI Wan-Xue . The Assembling Ability Geometric Analysis of Flexible Assemblies of Screws with Robots[J]. Editorial Office of Optics and Precision Engineering, 1998,(5): 46-52 DOI：

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。

Abstract

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.

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