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柔性装配技术的发展与机器人在自动化装配中的应用密切相关。利用机器人来进行零件的自动化装配是工业机器人学所面临的最严峻的挑战之一。本文对机器人自动装配小的轨迹规划问题及如何减小被装配零件相互之间作用力的问题进行了讨论,说明了机器人的战略控制级及装配过程中各种不同方法之间的差异,还叙述了采用几何学模型、运动学模型及动力学模型来确定机器人战略控制级的新方法。(图5幅)。
The development of flexible assembly technology is closely related to the robot’s application in automated assembly. Using robots to automate the assembly of parts is one of the most serious challenges industrial robots face. This paper discusses the small trajectory planning problem of robotic automatic assembly and how to reduce the interaction between the assembled parts. It also shows the difference between the strategic control level of the robot and the various methods in the assembly process, A new method to determine the robot’s strategic control level using geometric model, kinematic model and dynamic model. (Figure 5).