Extension of Screw Theory and Its Application to the Automation of Industrial Assemblies

摘要

Interest in mathematical models that adequately predict what happens in the process of assembling industrial parts has heightened in recent times. This is a result of the desire to automate the assembly process. Up to this point there has not been much success in deriving adequate mathematical models of the assembly process. This thesis is an attempt to develop mathematical models of parts assembly. Assembly involves motion of bodies which generally contact each other during the process. Hence, we study the kinematics of the relative motion of contacting bodies.