在自動化插配的過程中，不可預期的位置誤差與角度誤差常造成插配失敗。利用被動式遙軸順應裝置為最常見的解決方法之一。在文中將裝配作業分成兩個部分：導引階段與插入階段。本文主要探討導引階段中不同導角位置與大小時水平誤差與角度誤差之間的關係式。並且嘗試規劃出一個插配元件設計流程，來減少導引階段時所造成的角度誤差。除了單一圓棒插配作業之外，本文亦對雙圓棒插配動作一簡單的分析。

Both position and angular errors during the insertion process, which cannot be easily predicted because of indeterminate collision situations, may cause failure of the assembly. One of the frequently applied strategies is to use a passive remote center compliance. We break the insertion problem down in to two phases: chamfer-crossing, and inserting (after chamfer-crossing)phase. In this article, the relationship between the position and angular errors during chamfer-crossing with different chamfer size and locality are thoroughly analysis. We also try to design a technological processes of minimizing the angular errors during chamfer-crossing. Besides single round peg insertion, two dimensional dual peg-in-hole insertion problems are briefly analysis.

第一章 緒論 1
1.1文獻回顧 1
1.2研究動機 2
1.3論文架構 3
第二章 被動順應裝置插配動作分析 4
2.1 RCC裝置簡介 4
2.2 插配作業分析 7
2.2.1 插配作業步驟 7
2.2.2 插配過程假設 9
2.2.3 插配過程座標環境 10
2.3 一點接觸 11
2.4 兩點接觸 13
第三章 導角位置分析 15
3.1 導引階段假設 15
3.2 插孔元件上之導角 16
3.2.1 插孔元件上導角的幾何定義 16
3.2.2 插孔元件上導角導引階段所產生之角度誤差 17
3.2.3 插孔元件上導角之角度設計限制 19
3.3 插配元件上之導角 20
3.3.1 插孔元件上導角的幾何定義 20
3.3.2 插配元件上導角之角度設計限制 21
3.3.3 插配元件上導角導引階段所產生之角度誤差 23
3.4 雙導角插配元件組的幾何定義 24
3.5 導角α＞β時導引階段所產生之角度誤差 26
3.5.1 α＞β且Wp＋Ws＞ε＞Ws 26
3.5.2 α＞β且Ws＞ε 28
3.6 導角β＞α時導引階段所產生之角度誤差 29
3.6.1 β＞α且Wp＋Ws＞ε＞Wp 29
3.6.2 β＞α且Wp＞ε 30
3.7 導角α＝β時導引階段所產生之角度誤差 31
3.7.1 θ0＞0 31
3.7.2 θ0＜0 33
第四章 插配元件組導角位置比較 36
4.1 單一導角角度修正值比較 36
4.1.1 插孔元件上導角修正值 36
4.1.2 插配元件上導角修正值 38
4.1.3 導角修正值比較 40
4.2 雙導角修正比較 40
4.2.1 雙導角修正比較α＝30˚，β＝30˚ 41
4.2.2 雙導角修正比較α＝45˚，β＝45˚ 43
4.2.3 雙導角修正比較α＝60˚，β＝60˚ 45
4.3 各導角位置修正比較 47
第五章 雙插配元件組插配作業之幾何分析 50
5.1雙插配元件組基本尺寸定義 50
5.1.1 雙插配元件組插配作業前提 50
5.1.2 雙插配元件組尺寸定義 51
5.2插配元件與插孔元件配合之幾何條件 51
5.3雙插配元件的幾何分析 52
5.3.1雙插配元件與插孔元件最大的左右平移狀況 53
5.3.2最大的左右平移狀況延伸出的9種可能插配情形 54
5.4 雙插配元件插配作業中之角度限制與接觸情形 55
5.4.1 L1狀況中之角度限制與接觸情形 56
5.4.2 R2狀況中之角度限制與接觸情形 59
5.4.3 雙插配元件組接觸的26種情形 62
5.5 雙插配元件組的導引階段 63
第六章 結果與討論 67
參考文獻 68

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