弾性板穴への円筒棒の挿入技能に関する研究 : 棒の位置・姿勢と挿入力

概要

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We discuss cylinder insertion into a hole of a flexible rubber plate. The deformation of the rubber plate is modeled by that of long beams that are aligned perpendicular to the hole. The insertion force is analyzed in the relation to the depth, offset and inclination of the cylinder. It is clarified that the insertion force forms a hyperbolic field on a three-dimensional space composed of the coordinates of position and posture parameters. The magnitude of the insertion force is also discussed based on an insertion trajectory in the hyperbolic field. The man doing in cylinder insertion such as incline it at the beginning of insertion and make it straight to the rubber surface at the last sequence. We point out that the man sequence corresponds to the trajectory where the insertion force remains small. We also show experimentally the existence of a hyperbolic field on the position and posture space.
一般社団法人日本機械学会の論文
1996-07-25