Positioning and Orientation Requirements for Robotic Assembly by Insertion

Abstract

Based on the relative positions of the parts to be assembled, positions imposed by the technological process of insertion, the conditions required to perform a predetermined operation have been defined. The relations that express the relative positions and orientations of the axes of the parts to be assembled have been determined. These expressions enable the establishment of the functional requirements imposed on the robot. We have taken into consideration the influence of robot accuracy on its positioning and orientation repeatability.