As the society gradually enters the era of product personalization,the automated dedicated assembly method,which is poorly adaptable and difficult to transform and reuse.The mathematical model of assembly operation and assembly line is analyzed by directed graph and set representation,and the mathematical model representation of complete product assembly process based on the priority relationship diagram of assembly process is proposed.Based on the above analysis,a reconfigurable flexible assembly system is designed,which contains assembly units with quick-change interfaces,a library of assembly tools and fixtures,and several integrated assembly tools and assembly fixtures.After that,a suitable control system architecture is built according to the reconfigurable requirements,and a control right interaction protocol based on IO communication between the master controller and the robotic arm is established.Finally,the reconfigurable assembly unit simulation optimization and prototype manufacturing are carried out,and the prototype assembly experiments are conducted with shuttle valve and relief valve as examples.Through the prototype experiments,the feasibility of the proposed reconfigurable flexible assembly technology in terms of reconfigurable assembly concept,mathematical model,design scheme,mechanical structure,and control system is verified.
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