{"title":"零件配合问题的动态建模:螺纹紧固件插入","authors":"Edward J. Nicolson, R. Fearing","doi":"10.1109/IROS.1991.174422","DOIUrl":null,"url":null,"abstract":"A dynamic simulation of threaded insertion is developed based on Euler's equations, impulsive forces, and a geometric description for threaded parts. Points of contact between the threaded parts are determined and tracked during the simulation. Reaction forces are computed based by the kinematic description. The simulation is used to investigate the behavior of a bolt during insertion into a nut under grasp stiffness and damper control.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"36 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"12","resultStr":"{\"title\":\"Dynamic modeling of a part mating problem: threaded fastener insertion\",\"authors\":\"Edward J. Nicolson, R. Fearing\",\"doi\":\"10.1109/IROS.1991.174422\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A dynamic simulation of threaded insertion is developed based on Euler's equations, impulsive forces, and a geometric description for threaded parts. Points of contact between the threaded parts are determined and tracked during the simulation. Reaction forces are computed based by the kinematic description. The simulation is used to investigate the behavior of a bolt during insertion into a nut under grasp stiffness and damper control.<<ETX>>\",\"PeriodicalId\":388962,\"journal\":{\"name\":\"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91\",\"volume\":\"36 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1991-11-03\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"12\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IROS.1991.174422\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.1991.174422","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Dynamic modeling of a part mating problem: threaded fastener insertion
A dynamic simulation of threaded insertion is developed based on Euler's equations, impulsive forces, and a geometric description for threaded parts. Points of contact between the threaded parts are determined and tracked during the simulation. Reaction forces are computed based by the kinematic description. The simulation is used to investigate the behavior of a bolt during insertion into a nut under grasp stiffness and damper control.<>
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