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cha kong zuo ye yun dong fen xi
Pages: 7-11+19
Year: Issue:  5
Journal: Robot

Keyword:  assembly robotoperatecompliance wrist;
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.
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