【摘要】 本文采用矢量表示法分析了柔性手腕轴-孔插入过程中插入力的计算,实验表明理论计算值与实际测量值良吻合。在文中,还分析了插入过程中的“卡阻”、“楔紧”现象,提出了为使插入作业顺利进行应该保证的条件。更多还原

【Abstract】 In this paper,calculation of the peg-in-hole inserting force of a flexible wrist isanalyzed in vector form.It is shown that there is a good agreement between theore-tical and experimental results.The phenomena“Block”and“Wedge”,that ought tobe considered in the part-mating procedure is discussed.Lastly,the conditions thatmust be ensured for easy carrying on of inserting operations are also given.更多还原