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本文采用矢量表示法分析了柔性手腕轴-孔插入过程中插入力的计算,实验表明理论计算值与实际测量值良吻合。在文中,还分析了插入过程中的“卡阻”、“楔紧”现象,提出了为使插入作业顺利进行应该保证的条件。
In this paper, the vectorial representation is used to analyze the insertion force of the flexible wrist shaft-hole insertion process. The experimental results show that the calculated value is in good agreement with the actual measured value. In the paper, the phenomenon of “jamming” and “wedging” in the process of inserting is also analyzed, and the conditions that should be ensured for the smooth operation of the inserting job are put forward.