Total Passive Assembly of Rigid Parts

小行星9424603 该项目将使用所谓的空间远程中心顺应性（SRCC）设备来扩展自动化机器在三维组件装配中的能力。 这种无源装置，像其二维对应物，远程中心顺应性，不需要主动反馈控制这些任务。 工程问题和目标是设计和建造SRCC，它可以处理具有任意横截面和一般形状的非轴对称棱柱形零件，并具有分段插入路径。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用于确定灵活性要求，从而产生可处理所提出的三维装配任务的设计。 装配仍然是一个昂贵的，容易出错的，无处不在的过程，使用主动反馈控制的自动系统可能是缓慢和昂贵的。 该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且具有成本效益的解决方案。 ***

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. ***