Research Initiation: Dexterity in Flexible Automatic Assembly

本研究的目的是提高我们进行自动化柔性装配的能力。本研究的目标有三个：一是发展零件配合科学，并将其应用于柔性装配系统的设计。其次，发展一种可用于装配过程建模、装配装置分析和装配系统综合的柔性量化方法。最后，演示了灵巧性作为装配任务和装配设备的通用度量的有用性。本研究将采用的方法包括使用螺旋代数分析装配原语的物理特性和装配装置的力学特性，以及使用零件熵度量和位置和力的困难指数建立灵巧模型。灵巧性研究在工程中的应用将首先以装配系统应用手册的形式出现。这将反过来促进零件设计的简化，从而产生需要最少灵巧性的产品。预期的结果包括新的机器人装配设备，自动路径规划算法，包括装配过程的完整描述，以及工作空间内的最佳装配任务位置。

The goal of this research is to improve our ability to do automatic flexible assembly. There are three objectives to this end: First, develop the science of part mating, with application to flexible assembly system design. Second, develop a quantification of dexterity which can be applied to model the assembly process, analyze assembly devices and synthesize assembly systems. Finally, demonstrate the usefulness of dexterity as a common measure of assembly tasks and assembly devices. The methods to be employed in this research will include the analysis of the physics of assembly primitives and the mechanics of assembly devices using screw algebra, and the development of dexterity models using parts entropy measures and an index of difficulty for position and force. Applications of dexterity research in engineering will initially take the form of a handbook of assembly system applications. This should in turn stimulate design simplification of piece parts resulting in products which require the least amount of dexterity needed. Expected results include new robotic assembly devices, automatic path planning algorithms which include complete descriptions of the assembly process, and optimal assembly task location within the workspace.