摘要
由于装配环境的复杂性和检测、控制信息、装配件运动的不确定性,在研究装配接触状态时要考虑误差的影响.以凸多面体为装配对象,给出了在误差的情况下基于凸多面体边界元的接触状态预测算法,并以单轴孔装配为例,说明了该算法的有效性.
The analysis of assembly contact states is a key content during the process of robot assembly manipulation. Considering the complexity and uncertainty, the contact states with errors were analyzed. Based on it, a prediction algorithm of contact states with errors of the convex polyhedron's boundary components was proposed.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2005年第6期869-872,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(机械)
接触状态
误差
预测
assembly (machinery)
contact states
error
prediction
