Automated robotic assembly of complex workpieces from tiped components forms

作     者：P Kozlov A Klimchik 

作者机构：Center for T echnologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia 

出 版 物：《IOP Conference Series: Materials Science and Engineering》 

年 卷 期：2021年第1129卷第1期

摘      要：This paper deals with the automated robotic assembly of complex casting molds from components of regular shape. It addresses the issues of model decomposition and assembly sequence taking into account particularities of the gluing process and shape features. The decomposition parameters were determined by several approximation experiments. The obtained results validated via simulation and experimental study dealing with the assembly of particular workpieces with UR10e robot.