Ru He, Liping Hu

(College of Mechanical Science and Engineering, Jilin University)

Abstract：

Component assembly is the final stage and key link in the manufacturing of aerospace equipment. Robots are an important carrier for improving the automation and intelligence level of aerospace equipment component assembly, and are also the current difficulties and frontiers in the fields of assembly and robotics research. Therefore, starting from the assembly requirements in the aerospace field, this article analyzes the robot assembly process of three typical types of components: complex parts, deformable linear parts, and large components. It can be concluded that the core of robot assembly of aerospace components lies in solving the problems of robot compliance, dexterity, and collaboration. Then, the current research and application status of robot assembly theory and technology is systematically summarized from four aspects: state perception, planning and decision-making, precise control of force position, and multi machine/human-machine collaborative assembly. Finally, the future research directions of robot assembly in the aerospace field were discussed.

Key Words：

aerospace; robot assembly; state perception; planning and decision-making; precise control of force position; multi machine/human-machine collaborative assembly