一种机器人螺纹装配位姿调整新方法的理论研究

本文首先简要介绍一种用于螺纹孔方向偏差检测和位置检测的新颖光纤传感器的机理，重点介绍基于该传感器在ＳＣＡＲＡ机器人螺纹装配应用中螺纹孔位姿偏差的调整及仿真的理论研究。结果表明，借助螺钉与螺纹孔相对位置状态划分及相互转化从而逐步减小位姿偏差的调整方法，是一种简捷，易行，实用的方法。

Theoretical study of a new method to robot pose alignment on screw assemblies

This paper briefly introduces the principle of a new optic the sensor which is ed in the mp detection of screw holes, and mainly deals with the further appli cations and simulation of the principle to the screw with SCARA robot in order to align the pose errors of the screw holes. The results imply that the method of separating the screw pose states so as to diminish the errors between the and screws during the inter- change of the states is simple, practical and effective.