3-D CAD data oriented self-planning of assembly robot cell systems

摘要

We propose a 3-D CAD oriented assembly robot system which calculates the minimal number of robots needed for amount of production, assigns assembly tasks to plural robots equally, and derives an optimal assembly sequence for each robot. The main principle in our research is optimization of necessary resources (robots, end-effecters and so on) by production targets (design for product, amount of production, etc.). From this point of view, we try to plan tasks of the assembly robot system on object level, and evaluate the simulation results.