东华大学学报（英文版）2003，Vol.20Issue(3)：72-77,6.
Error Analysis of Robotic Assembly System Based on Screw Theory
Error Analysis of Robotic Assembly System Based on Screw Theory
摘要
Abstract
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.关键词
robotic assembly system/screw theory/error twist/error analysisKey words
robotic assembly system/screw theory/error twist/error analysis分类
信息技术与安全科学引用本文复制引用
韩卫军,费燕琼,赵锡芳..Error Analysis of Robotic Assembly System Based on Screw Theory[J].东华大学学报（英文版）,2003,20(3):72-77,6.基金项目
This work is supported by the National Science Foundation under Grant 863 -512 -9820 -04. （）
