DESIGN OF ADVANCED ROBOTIC SYSTEMS FOR ASSEMBLY AUTOMATION

摘要

The paper describes the architecture of the virtual prototyping environments that can be pres- ently set up to try to make the best from a concurrent mechatronic design of mechanical devices and control systems: though a single comprehensive tool is not available on the market at the moment, a proper integration of different software modules can do the job. As an example, a hybrid kinematic ar- chitecture for mechanical assembly is presented, based on the functional splitting of complex tasks be- tween two cooperating parallel kinematics machines with limited mobility and equipped by proper inter- action control.