Information Approach to Parts Mating,

摘要

The thesis addresses the interaction of mechanical parts during the assembly process,the nature of the information available during this interaction,and the form and use of this information in aiding parts mating. In the development of programmable industry assembly,this report describes how to determine the performance characteristics necessary for a positioning device designed for assembly. Four chapters describe:the assembly process as a positioning problem and the study of parts mating as a means of solving for this positioning problem;the transition from transporting the parts to positioning the parts for starting the assembly;the actual parts assembly or mating;and the implications of the parts mating study on the configuration of an assembly system. The appendices include a description of the kinematics of rigid solids in space, a two dimensional analysis of a peg in hole insertion,theoretical performance evaluations,geometric information,experimental design,and position estimation implementation.