容差柔顺手的设计与研究

袁水; 张慧慧

袁水, 张慧慧. 容差柔顺手的设计与研究[J]. 北京工业大学学报, 1998, 24(1): 33-39.

引用本文:

袁水, 张慧慧. 容差柔顺手的设计与研究[J]. 北京工业大学学报, 1998, 24(1): 33-39.

Yuan Shui, Zhang Huihui. Development of Error-Absorbtion Compliant Robot Hand and Its Design[J]. Journal of Beijing University of Technology, 1998, 24(1): 33-39.

Citation:

Yuan Shui, Zhang Huihui. Development of Error-Absorbtion Compliant Robot Hand and Its Design[J]. Journal of Beijing University of Technology, 1998, 24(1): 33-39.

容差柔顺手的设计与研究

袁水,
张慧慧

Development of Error-Absorbtion Compliant Robot Hand and Its Design

摘要

摘要: 分析了机器人手爪刚度对轴孔装配作业中装配力的影响,在此基础上设计了一种原理和结构全新的柔顺装配装置一容差柔顺手,并在PUMA-262机器人上,完成了精密配合轴孔的装配作业.

Abstract: The effect of the stiffness of robot end-effector upon the mating procedure in peg-in-hole assembly production is analysed. On the basis of its result. a passive compliant device is built, with which precise insertion experiments are conducted on a PUMA-262 Robot. lt turns out that this device works well.

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