Research Initiation: Dexterity in Flexible Automatic Assembly

这项研究的目的是提高我们的能力， 自动柔性装配 这有三个目标 结论：一是发展零件配套科学， 灵活的装配系统设计。 第二，发展A 灵活性的量化，可以应用于建模 装配工艺，分析装配设备， 装配系统。 最后，展示 灵活性作为装配任务和装配的通用度量 装置. 本研究采用的方法包括： 分析了装配体的物理特性和力学特性 装配设备使用螺旋代数，和发展， 灵巧性模型使用零件熵的措施和指数 位置和力量的困难。 灵活性研究在工程中的应用将 最初采取汇编系统手册的形式 应用. 这反过来又会刺激设计 零件的简化导致产品需要 所需的最小灵活性。 预期成果包括 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.