Total Passive Assembly of Rigid Parts

9424603 Sturges该项目将使用所谓的空间远程中心符合性（SRCC）设备扩展三维组件装配自动化机器的能力。这种被动设备，就像它的二维对应物——远程中心遵从性一样，不需要主动反馈控制来完成这些任务。工程问题和目标是设计和制造具有分段插入路径的可处理任意截面和一般形状的非轴对称棱柱形零件的SRCC。在处理这些问题时，分析的基础是识别三维接触，即点、线或面。这些接触的运动学可以用来确定灵巧性的要求，导致一个设计，可以处理提出的三维装配任务。装配仍然是一个成本高昂、容易出错且无处不在的过程，而使用主动反馈控制的自动系统可能速度缓慢且成本高昂。这个项目的结果将为这些重要的质量和生产力问题提供一个强大的、经济有效的解决方案。* * *

9424603 Sturges This project will extend the ability of automated machines in assembly of three dimensional components using what is termed a spatial remote center compliance (SRCC) device. This passive device, like its two dimensional counterpart, the remote center compliance, does not require active feedback control for these tasks. The engineering problem and objectives are to design and build SRCC's that can handle non-axisymmetric prismatic parts of arbitrary cross section and general shapes with a segmented insertion path. In handling these problems, the basis for analysis is identification of the contacts in three dimensions, i.e., point, line or surface. The kinematics of these contacts can be used to determine the dexterity requirements, leading to a design that can handle the proposed three dimensional assembly tasks. Assembly remains a costly, error prone, and ubiquitous process, and automatic systems using active feedback control can be slow and costly. Results from this project will provide a robust and cost effective solution to these important quality and productivity problems. ***