机器人柔顺装配的几何及力学分析研究

对柔顺装配过程中轴孔位姿偏差和装配力变化规律进行了分析研究，提出了装配作业可行域，指出了改善装配效果的可能途径。提出的数学模型和约束条件是研究各类柔顺技术的理论基础。

GEOMETRIC AND MECHANICAL ANALYSIS OF ROBOTIC COMPLIANCE ASSEMBLY

The variation of rigid part's pose errors and assembly forces during the compliant assembly process are analysed. The abnormal situation of peg-in hole assembly explained and the feasible region to perform asembly discussed. The practical ways to impro vethe assembly effects are suggested. The mathematic models and constraints given not only are the theoretical basis of force-motion planning in robotic assembly task, but also serve as the foundation of the research on all kinds of external compliance technology.