Robotic assembly: a synthesizing overview

摘要

SUMMARY Robotic assembly systems offer tremendous promise for the flexible assembly automation but present a variety of complex research issues due to the positioning inaccuracy of the manipulator, dimensional variation of mating parts and their physical interactions. This paper provides an up-to-date survey of researches in robotic assembly with emphasis on parts mating technology. Depending upon the mating strategy, presently available methods of performing precision assembly operations are classified and their advantages and limitations are discussed from the view points of the system complexity, adaptability and reliability. The performance variables such as the mating speed, positioning error absorbing capability and applicability are compared in some details for various assembly methods.