【摘要】 本文研究了将销类工件插入孔类工件中这一作业情况。整个插孔过程分为三个阶段:1)在倒角处相交;2)一点接触;3)两点接触。文中对各个阶段的约束条件和运动情况进行了较详细的分析,采用了齐次坐标变换的方法。其分析结果可供设计各种类型柔顺腕,尤其是设计被动柔顺腕时参考。更多还原

【Abstract】 The procees of inserting a peg into a hole is studied in this thesis. There are three stages in a generalinsertion process: 1. chamfer crossing; 2. one point contact; 3. two points contact. The restraint and themovement in these stages had been analysed in detail, and the method of homogeneous coordinate trans-formation had been used in this thesis. The results obtained from these analyses can be used as reference todesign all sorts of compliant wrist, especially passive compliant wrist.更多还原