부산대학교 도서관

The behavior of flexible parts in robotic assembly is considered. Mathematical models are derived for the deformation of a cylindrical plastic shaft that is flexible and elastic during one- and two-point contact of the component with the bush in robotic assembly, when using the output signals of a force and torque sensor. The analytical solutions obtained permit determination of the flexure and rotational angles of elastic rods in different contact conditions during component–bush assembly. On the basis of the calculated deformation, the motion of the robot’s output element in assembly may be corrected.