An Approach Of Assembly Based On 2-4 Joint Industrial Robots

At present most of the assembly of mechanical products mainly rely on manual implementation, low efficiency of assembly and assembly quality depends on the operator skill.Industrial robot failed to in mechanical product assembly link of extensive use of one of the reasons is due to mechanical product assembly is more complex, the current industrial robot is difficult to competent for complex product assembly work.But the deeper reason lies in lack of mathematical theory about automated assembly.This article mainly through to the mechanical product assembly process to study and put forward the corresponding mechanical products of the industrial robot based on 2-4 joint automatic assembly theory to solve the bottleneck problem automated assembly.In order to realize the robot assembly of mechanical products, this paper studied the following content: (1) analysis of the mechanical product assembly of basic coordinate type;(2) to establish a method of symbolic said parts assembly feature;(3) to abstract the basic types and parts assembly feature of symbolic representation method of mechanical products based on discrete mathematical model of the assembly process;(4) through the representation of mechanical product assembly process, to establish a robotic assembly action representation theory, so that the computer processing;(5) according to the established mathematical theory, automated assembly of typical mechanical product assembly, to verify the correctness and practicability of this theory.6. This theory as the basis for 2-4 joints, the robot’s design and use.By the object’s virtual assembly of automobile engine show that, as long as the object will be assembling all the parts of basic geometric feature parameters as input, the mathematical method can automatically generate the correct assembly and action of each assembly needs.So this method can be used as building robot assembly line choosing robot type (i.e. number of joints and joint combination) and tool generated robot action code.