关于机械手的中英文翻译COMBINATION OF ROBOT CONTROL AND ASSEMBLY PLANNING FO.doc

徐州工程学院毕业设计 外文翻译 学生姓名 缪子磊 学院名称 机电工程学院 专业名称 机械设计制造及其自动化 指导教师 张佐营 2011年 5月 27日 COMBINATION OF ROBOT CONTROL AND ASSEMBLY PLANNING FOR A PRECISION MANIPULATOOR Abstract This paper researches how to realize the automatic assembly operation on a two-finger precision manipulator. A multi-layer assembly support system is proposed. At the task-planning layer, based on the computer-aided design (CAD) model, the assembly sequence is first generated, and the information necessary for skill decomposition is also derived. Then, the assembly sequence is decomposed into robot skills at the skill-decomposition layer. These generated skills are managed and executed at the robot control layer. Experimental results show the feasibility and efficiency of the proposed system. Keywords Manipulator Assembly planning Skill decomposition Automated assembly 1 Introduction Owing to the micro-electro-mechanical systems (MEMS) techniques, many products are becoming very small and complex, such as microphones, micro-optical components, and microfluidic biomedical devices, which creates increasing needs for technologies and systems for the automated precision assembly of miniature parts. Many efforts aiming at semi-automated or automated assembly have been focused on microassembly technologies. However, microassembly techniques of high flexibility, efficiency, and reliability still open to further research. Thispaper researches how to realize the automatic assembly operation on a two-finger micromanipulator. A multi-layer assembly support system is proposed. Automatic assembly is a complex problem which may involve many different issues, such as task planning, assembly sequences generation, execution, and control, etc. It can be simply divided into two phases; the assembly planning and the robot control. At the assembly-planning phase, the information necessary for assembly operations, such as the assembly sequence, is generated. At the robot control phase, the robot is d