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东华大学学报：英文版 |
| Error Analysis of Robotic Assembly System Based on Screw Theory东华大学学报：英文版论文 |
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【题名】：Error Analysis of Robotic Assembly System Based on Screw Theory东华大学学报：英文版论文(Error Analysis of Robotic Assembly System Based on Screw TheoryDongHuaDaXueXueBao：YingWenBanLunWen)
【关键词】：误差分析 机器人组合系统 螺丝钉 误差扭矩 机械加工
【keywords】：WuChaFenXi JiQiRenZuHeXiTong LuoSiDing WuChaNiuJu JiXieJiaGong
【作者】：韩卫军 费燕琼 赵锡芳 【来源】： 知识词典
【期刊名称】：东华大学学报：英文版(DongHuaDaXueXueBao：YingWenBan)
【国际标准刊号】：1000-1484 【国内统一刊号】：
【作者单位】：ResearchInstituteofRobotics,ShanghaiJiaotongUniversity,Shanghai,200030(ResearchInstituteofRobotics,ShanghaiJiaotongUniversity,Shanghai,200030)
【分类号】：TH131.3 【页码】：-72-77 【出版年】：2003.3
【下载地址】：下载pdf全文
Assembly errors have great influence on assembly quality in robotic assembly systems. Error analysis is directed to the propagations and accumula-tions of various errors and their effect on assembly success. Using the screw coordinates, assembly errors are represented as “error twist”, the extremely compact expression. According to the law of screw composition, relative position and orientation errors of mating parts are computed and the necessary condition of assembly success is concluded. A new simple method for measuring assembly errors is also proposed based on the transformation law of a screw. Because of the compact representation of error, the model presented for error analysis can be applied to various part-mating types and especially useful for error analysis of complexity assembly.
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