互配零件机器人装配作业的几个关键问题

Several Key Problems on the Assembly of Mating Parts with Robots

以互配零件的机器人装配作业为例，重点从装配误差与互配零件间隙的分析、互配零件相对位置的检测与控制和柔顺装置的设计与应用等三方面装配关键技术问题的国内外研究现状进行介绍和论述，并预测其技术发展和应用的新趋势。

This paper studies the assemblies of mating parts with robots as examples to introduce and discuss the current stage and development of the three aspects of the key technologies on robotic assembly. The three aspects are the analysis of assembly tolerance and the clearance of mating parts, the test and control of the relative position of the mating parts, and the design and application of flexible devices. In the end, the prediction of the new trends on the development and application of these technologies is presented.