摘要
以 DFA分级装配模型为研究重点 ,按装配零件的外形将其进行分类。对每个零件建立了局部坐标系 ,计算出不同零件之间的相对位置姿态。分析了零件重要的邻接关系 ,特别是面面配合和轴孔配合。基于邻接的几何特征 ,得到了以位置姿态矩阵为未知变量的方程组。
This paper focuses on the hierarchical assembly model of the DFA.The components for assembly are classified according to their configuration.The relative position and orientation between different components are computed as long as local coordinate system is set up to each component.The important neighbourhood relationship of compontents,especially face to face fitting relationship and spindle into hole fitting relationship,is analysed.With the location and orientation matrixes as unkown variables,a group of equations is obtained on the basis of neighbourhood geometric features.The Newton Raphon iteration method and the Least Square technology are adopted to solve the nonlinear equations.
出处
《中国机械工程》
CAS
CSCD
北大核心
2000年第3期310-312,共3页
China Mechanical Engineering
关键词
装配
外形
邻接关系
位姿
DFA
机器人
assembly configuration neighbo\| urhood location and orientation
