摘要
研究了柔性装配系统设计中的装配规划，提出通过计算装配关联图割集，利用分离可行性和可行分离路径判据，求出可行拆卸顺序，以与／或图给出装配顺序。还研究了机器人装配工作站规划，提出了把机器人装配成功率最高的位姿作为装配点，把位姿误差最小的构形作为抓取点，适当调整工作点，缩短机器人运动路径，实现工作站的合理布局。
Assembly sequence planning in flexible assembly system (FAS) design is studied. Through calculating the cut sets of assembly liaison graph, assembly sequences is generated by using the decomposiition feasibility and the feasible decomposition path, and assembly sequences is represented in the form of AND/OR graph. The robotic assembly workstations layout is studied. The layout procedure regards the poses of the highest probability of successful robotic assembly as assembly points, and the minimum error poses as grasp points. Through adjusting the assembly and grasp points properly, the total distance traveled by robot can be reduced as short as possible, so that the reasonable layout of robotic workstations is obtained.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
1997年第6期26-32,共7页
Journal of Mechanical Engineering
基金
国家自然科学基金
