摘要
机器人装配对于柔性装配自动化具有广阔的前途,但由于机器人手付的定位精度低,装配零件尺寸的变化问题,直接采用现有工业机器人来实现装配作业是困难的。本文介绍了研制的采用机械阻抗可控制柔顺手腕的机器人装配作业实验系统,柔顺手腕是一种定位误差补偿装置,能够克服上述存在的问题,实现精密机械零件的装配作业。
Robotic assembly systems offer tremendous promise for the flexible assembly automat ion but present a variety of complex research issure due to the positioning inccuracy of the manipulator,dimensional variation of mating parts. This paper intruduced an experimental robotic assembly system utilizing a 'Mechanical Impedance Controllable Compliant Wrist(MICCW)'that has been developed. MICCW is a device that has positioning error absorbing capability and can over above problems. The experimental system can perform precision assembly operations
