动态卡阻及主动柔顺装配策略研究

分析了基于轴孔装配的动态卡阻和楔紧现象，推导出一点和两点接触时，轴在孔中发生卡阻和楔紧状态的力学方程，给出动态卡阻图和避免卡阻和楔紧状态发生的力／力矩条件。通过研究主动柔顺装配过程，分析了影响装配的几个重要参数之间的相互关系，得出插轴入孔的主动柔顺运动空间。这些研究成果为机器人装配的主动柔顺控制研究奠定了一定的基础。

Dynamic Jamming Analysis and the Strategy Study on Active Compliance Assembly

In this paper, we analyzed the dynamic jamming and wedging states based on the static model. In the situation of one point and two point contact, the mechanical equations of jamming and wedging, as well as the jamming and wedging chart and the force/torque conditions of avoided jamming and wedging are also given in this paper. Also, by analyzing the process of active compliance assembly, the relationship of several parameters that can affect the assembly were studied, from which the active compliance space of peg in hole can be educed. These research fruits are the basis for active compliance control of robot assembly manipulations.