| 虚拟环境中微机械拟实组装的运动学描述 |
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| 引用本文： | 赵新,卢桂章,陆斌,李明,安向东. 虚拟环境中微机械拟实组装的运动学描述[J]. 机器人, 1999, 21(2): 92-97 |
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| 作者姓名： | 赵新 卢桂章 陆斌 李明 安向东 |
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| 作者单位： | 南开大学机器人与信息自动化研究所,天津,300071 |
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| 基金项目： | 国家攀登计划,国家自然科学基金,863计划智能机器人主题 |
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| 摘 要： | 微机械的组装包括：部件制作，部件对准和部件焊接３个过程．本文针对微机械组装中最重要对准过程，给出了虚拟环境中拟实组装细化的操作步骤及相应的运动学描述．同时，面向微机械拟实运行，给出了焊接过程的运动学描述．建立了虚拟现实实验平台，并在此平台上完成了一个作为虚拟环境中微马达转子与定子拟实组装简化例子的轴孔配合拟实组装实验．初步验证了本文所给出的虚拟环境中拟实组装运动学描述的正确性．
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| 关 键 词： | 微机械 虚拟环境 拟实组装 运动学 |
KINEMATICS OF VIRTUAL ASSEMBLY FOR MEMS IN VIRTUAL ENVIRONMENT |
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| ZHAO Xin,LU Guizhang,LU Bin,LI Ming,AN Xiangdong. KINEMATICS OF VIRTUAL ASSEMBLY FOR MEMS IN VIRTUAL ENVIRONMENT[J]. Robot, 1999, 21(2): 92-97 |
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| Authors: | ZHAO Xin LU Guizhang LU Bin LI Ming AN Xiangdong |
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| Abstract: | There are three processes in assembly for MEMS: parts making, parts aligning and parts bonding. Parts aligning is the most important process; its detailed steps of virtual assembly in virtual environment and the corresponding kinematics are given in this paper. Towards virtual operation, the kinematics of parts bonding is given as well. A virtual reality experimental platform is built up and an experimental example of 'peg into hole' is conducted as the simplified example of virtual assembly for stator and rotor of micromotor in virtual environment; Preliminary experiment shows that the kinematics of virtual assembly for MEMS in virtual environment is correct. |
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| Keywords: | MEMS virtual environment virtual assembly kinematics |
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