摘要
机器人装配工作站是机器人柔性装配系统的主要组成部分．本文采用蒙特卡罗原理研究作业系统误差、机器人位姿误差补偿和机器人柔顺性对机器人装配过程的影响，从而确定上料装置和定位装置的最优位姿，本文所提出的工作站规划方法对设计机器人装配工作站具有实用价值．
The robotic workstation layout is the main part of the design for a flexible robotic assembly sys-tem.In this paper,by using of the Monte Carlo theory,the influences of all kinds of errors,robot pose er-rors compensation and robot compliance upon the robotic assembly process is studied.A discrirninant of pro-cess success of assembly is introduced and verified by experiment.Then the Monte Carlo optimization is usedto determine the location of feeders and assembly point which is of highest success rate of assernbly process.The layout procedures presented is of great value to the design of flexible assembly system.
出处
《机器人》
EI
CSCD
北大核心
1994年第5期307-312,共6页
Robot
关键词
机器人
装配工作站
蒙特卡洛模拟
Monte Carlo simulation,robotic workstation,layout
