论文标题
优化最佳基于插入误差的关节
Optimizing towards the best insertion-based error-tolerating joints
论文作者
论文摘要
我们提出了一个基于优化的设计过程，该过程可以针对不同的错误生成最佳的基于插入的关节，包括操纵误差，制造错误和传感误差。我们将分析分为两个阶段，即插入和插入后稳定性。每个子过程被离散为不同的触点模式。触点模式之间的过渡形成了一个有向图，并通过操纵插座边角和钉接触点位置来实现和维持图形的连接性。分析以2D开始，假设点边触点。在优化期间，插座的边缘旋转，钉子上的点沿边缘移动，以确保插入后成功的插入和稳定性。我们在模拟中表明，我们提出的方法可以生成基于插入的关节，这些关节耐用给定错误。我们提出了一些简单的3D预测，以表明该分析仍然有效，超出了2D案例。
We present an optimization-based design process that can generate the best insertion-based joints with respect to different errors, including manipulation error, manufacturing error, and sensing error. We separate the analysis into two stages, the insertion and the after-insertion stability. Each sub-process is discretized into different modes of contacts. The transitions among the contact modes form a directed graph and the connectivity of the graph is achieved and maintained through the manipulation of the socket edge-angle and peg contact-point locations. The analysis starts in 2D with the assumption of point-edge contacts. During the optimization, the edges of the socket are rotated and the points on the peg are moved along the edges to ensure the successful insertion and the stability after insertion. We show in simulation that our proposed method can generate insertion-based joints that are tolerant to the given errors. and we present a few simple 3D projections to show that the analysis is still effective beyond 2D cases.
