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机器人装配系统中 ,装配误差是影响装配质量的重要因素 .在分析了机器人装配过程各种误差的基础上 ,用偏差向量建立了装配误差的模型 .基于刚体运动学原理 ,研究了装配工夹具的姿态偏差对零件配合面位置偏差的影响 ,推导了配合件和基础件相应配合面的位置和姿态偏差的计算公式 ,建立了机器人装配系统零件配合过程的误差分析模型 .实例计算表明 ,该模型物理意义明确 ,通用性强 ,是系统评价机器人装配系统装配质量的基础
In the robot assembly system, the assembly error is an important factor affecting the assembly quality.Based on the analysis of various errors in the robot assembly process, a model of assembly error is established by using the deviation vector.Based on the rigid body kinematics theory, The position error and the attitude deviation of the mating surface of the mating part and the base part are deduced and the error analysis model of the mating process of the robot assembly system is established.Example calculation shows that the model physics A clear meaning, versatility, is a systematic evaluation of the assembly quality of the robot assembly system foundation