层压型高弹材料及在机器人装配中的应用

在机器人实现自动装配过程中，为吸收系统中存在的位置和角度误差，促进装配过程的顺利进行，常采用柔顺装置，在该装置中，弹性件是关键元件。本文采用金属和非金属相结合，制成一种弹性杆，可作为该装置的弹性件。文中介绍了该弹性杆的层压型结构及其制造方法，分析了该杆的轴向压缩弹簧刚度和横向剪切弹簧刚度的计算方法，讨论了影响该杆性能的主要因素。本文应用该弹性杆组成了柔顺装配工作台，经性能测定和装配试验，效果良好。最后，介绍了该工作台主要性能参数的测定方法和结果。

Laminated Elastomer and Its Application to Robotic Assembly

A compliance device is often used in robotic assembly process for absorbing position and angular errors to facilitate the process. An elastic part is a key element in the device. In the work presented here an elastomeric rod made of metal and rubber is used in the device. Describes its laminated structure and manufacturing method. Calculations of its longitudinal compression and lateral shear spring rates are presented and the main factors of influence on its performance are discussed. Lastly a compliance assembly table including the rod is introduced and a method for the measurement of the table performance and measured results are given.