液壓機(jī)械手的設(shè)計(jì)【五自由度】【CAD圖紙和文檔終稿可編輯】,五自由度,CAD圖紙和文檔終稿可編輯,液壓,機(jī)械手,設(shè)計(jì),自由度,cad,圖紙,以及,文檔,終稿可,編輯,編纂 摘 要 液壓機(jī)械手是模仿人的手部動作，按照給定的程序、軌跡通過液壓系統(tǒng)實(shí)現(xiàn)抓取和 搬運(yùn)操作的自動裝置。 本次設(shè)計(jì)的液壓傳動機(jī)械手根據(jù)規(guī)定的動作順序，綜合運(yùn)用所學(xué)的基本理論、基本 知識和相關(guān)的機(jī)械設(shè)計(jì)專業(yè)知識，完成對機(jī)械手的設(shè)計(jì)，并繪制必要裝配圖、液壓系統(tǒng) 圖、 。機(jī)械手的機(jī)械結(jié)構(gòu)采用油缸、螺桿、導(dǎo)向筒等機(jī)械器件組成；在液壓傳動機(jī)構(gòu)中， 機(jī)械手的手臂伸縮采用伸縮油缸，手腕回轉(zhuǎn)采用回轉(zhuǎn)油缸，立柱的轉(zhuǎn)動采用齒條油缸， 機(jī)械手的升降采用升降油缸，立柱的橫移采用橫向移動油缸；通過控制電磁閥的開關(guān)來 控制機(jī)械手進(jìn)行相應(yīng)的動作循環(huán)，當(dāng)按下連續(xù)停止按鈕后，機(jī)械手在完成一個(gè)動作循環(huán) 后停止運(yùn)動。 本設(shè)計(jì)擬開發(fā)的上料機(jī)械手可在空間抓放物體，動作靈活多樣，可代替人工在高溫 和危險(xiǎn)的作業(yè)區(qū)進(jìn)行作業(yè)，可抓取重量較大的工件?？梢愿纳苿趧訔l件，避免人身事故。 可以減少人力，并便于有節(jié)奏的生產(chǎn)。 關(guān)鍵詞： 機(jī)械手；液壓；控制回路 II Abstract Hydraulic robot mimic is the hand movements which in accordance with a given program, the path through the hydraulic system to achieve automatic device to capture and handling operations. The design of hydraulic drive manipulator movements under the provisions of the order ， use the basic theory, basic knowledge and related mechanical design expertise comprehensively to complete the design， and drawing the necessary assembly, hydraulic system map, PLC control system diagram . Manipulator mechanical structure using tanks, screw ,guide tubes and other mechanical device component ；In the hydraulic drive bodies ，manipulator arm stretching using telescopic tank ，rotating column of tanks used rack ，manipulator movements using tank movements ，the column takes the horizontal movement of tanks ； through the control of the solenoid valve to control the switch manipulator corresponding moves cycle ，after press the row stop button , the manipulator complete a cycle of action to stop after the hole campaign. The design of the proposed development of the information on the manipulator can grasp up in space objects ，flexible and varied movements ，can replace the artificial heat and dangerous operation conducted operations，and can grasp the larger work pieces . Can improve working conditions, avoid personal accident. Can reduce manpower, and to facilitate the there are-paced the production of. Keywords： Manipulator ；Hydraulic ；Control Loop 目 錄 摘 要 ...........................................................................................................................................III ABSTRACT ..................................................................................................................................IV 目 錄 ............................................................................................................................................V 1 緒論 .............................................................................................................................................1 1.1 機(jī)械手的基本概念的研究內(nèi)容和意義 ...............................................................................1 1.1.1 機(jī)械手的基本概念 ........................................................................................................1 1.1.2 機(jī)械手的研究意義 ........................................................................................................1 1.2 機(jī)械手的發(fā)展現(xiàn)狀及應(yīng)用 ...................................................................................................1 1.2.1 世界機(jī)器人發(fā)展?fàn)顩r ..................................................................................................1 1.2.2 我國工業(yè)機(jī)器人的發(fā)展 ................................................................................................2 1.3 本課題達(dá)到的要求 .............................................................................................................2 2 液壓機(jī)械手主要結(jié)構(gòu)的機(jī)械設(shè)計(jì) .............................................................................................4 2.1 臂力的確定 ...........................................................................................................................4 2.2 確定工作范圍 .......................................................................................................................4 2.3 確定運(yùn)動速度 .......................................................................................................................4 2.4 手臂的配置形式 ...................................................................................................................4 2.5 位置檢測裝置的選擇 ...........................................................................................................5 2.6 驅(qū)動與控制方式的選擇 .......................................................................................................5 2.7 本章小結(jié) ...............................................................................................................................5 3 手部結(jié)構(gòu) .....................................................................................................................................7 3.1 概述 .......................................................................................................................................7 3.2 設(shè)計(jì)時(shí)應(yīng)考慮的幾個(gè)問題 ...................................................................................................7 3.3 驅(qū)動力的計(jì)算 .......................................................................................................................8 3.4 兩支點(diǎn)回轉(zhuǎn)式鉗爪的定位誤差的分析 ...............................................................................9 3.5 本章小結(jié) ...............................................................................................................................9 4 腕部的結(jié)構(gòu) ...............................................................................................................................11 4.1 概述 .....................................................................................................................................11 4.2 腕部的結(jié)構(gòu)形式 .................................................................................................................11 4.3 手腕驅(qū)動力矩的計(jì)算 .........................................................................................................11 4.4 本章小結(jié) .............................................................................................................................13 5 臂部的結(jié)構(gòu) ...............................................................................................................................14 5.1 臂部概述 .............................................................................................................................14 5.2 手臂直線運(yùn)動機(jī)構(gòu) .............................................................................................................14 5.2.1 手臂伸縮運(yùn)動 ..............................................................................................................14 5.2.2 導(dǎo)向裝置 ......................................................................................................................15 5.2.3 手臂的升降運(yùn)動 ..........................................................................................................16 5.3 手臂回轉(zhuǎn)運(yùn)動 .....................................................................................................................17 I 5.4 手臂的橫向移動 .................................................................................................................17 5.5 臂部運(yùn)動驅(qū)動力計(jì)算 .........................................................................................................17 5.5.1 臂水平伸縮運(yùn)動驅(qū)動力的計(jì)算 ..................................................................................17 5.5.2 臂垂直升降運(yùn)動驅(qū)動力的計(jì)算 ..................................................................................18 5.5.3 臂部回轉(zhuǎn)運(yùn)動驅(qū)動力矩的計(jì)算 ..................................................................................18 6 液壓系統(tǒng)的設(shè)計(jì) .......................................................................................................................20 6.1 液壓系統(tǒng)簡介 .....................................................................................................................20 6.2 液壓系統(tǒng)的組成 .................................................................................................................20 6.3 機(jī)械手液壓系統(tǒng)的控制回路 .............................................................................................20 6.3.1 壓力控制回路 ..............................................................................................................20 6.3.2 速度控制回路 ..............................................................................................................21 6.3.3 方向控制回路 ..............................................................................................................21 6.4 機(jī)械手的液壓傳動系統(tǒng) .....................................................................................................21 6.4.1 上料機(jī)械手的動作順序 ..............................................................................................21 6.4.2 自動上料機(jī)械手液壓系統(tǒng)原理介紹 ..........................................................................22 6.5 機(jī)械手液壓系統(tǒng)的簡單計(jì)算 ............................................................................................24 6.6 雙作用單桿活塞油缸 ........................................................................................................24 6.7 無桿活塞油缸（亦稱齒條活塞油缸） ............................................................................27 6.7.3 單葉片回轉(zhuǎn)油缸 ..........................................................................................................27 6.7.4 油泵的選擇 ..................................................................................................................28 6.7.5 確定油泵電動機(jī)功率 N ..............................................................................................29 7 結(jié) 論 .......................................................................................................................................30 致 謝 .................................................................................................................................31 附 錄 ...........................................................................................................................................33 2 1 緒論 1.1 機(jī)械手的基本概念的研究內(nèi)容和意義 1.1.1 機(jī)械手的基本概念 液壓機(jī)械手，從本質(zhì)上來說是屬于工業(yè)機(jī)器人的范圍的，機(jī)器人問題是最近幾十年 的熱門研究課題。它包括了機(jī)械工程、計(jì)算機(jī)科學(xué)、電子工程和自動控制以及人工智能 等多種學(xué)科，體現(xiàn)了機(jī)電一體化技術(shù)的最新成就，是當(dāng)代科學(xué)技術(shù)發(fā)展最活躍的范圍之 一，也是我國科技界跟蹤國際高技術(shù)發(fā)展的重要課題。 “機(jī)械手” （Machanical Hand）：大部分是指附屬于主機(jī)、程序固定的自動抓取、操 作裝置（我國一般稱作機(jī)械手或?qū)Ｓ脵C(jī)械手） 。比如自動生產(chǎn)線、自動機(jī)的上下給料系統(tǒng)， 加工中心自動化裝置 [1]。 1.1.2 機(jī)械手的研究意義 1.可以提高生產(chǎn)過程的自動化程度。 應(yīng)用機(jī)械手有利于在自動生產(chǎn)線中實(shí)現(xiàn)材料的傳送、工件的裝卸、刀具的更換、以 及機(jī)器的裝配等的自動化程度，從而提高勞動生產(chǎn)率，降低生產(chǎn)成本。 2.可以改善勞動條件，避免人身事故。 3.可以減少人力，并便于有節(jié)奏的生產(chǎn)。 4.用液壓系統(tǒng)來控制機(jī)械手，比一般的機(jī)械控制具有更好的穩(wěn)定性，并且控制的精確 度更高。 5.運(yùn)用機(jī)械手可以實(shí)現(xiàn)連續(xù)的生產(chǎn)，而大大提高在生產(chǎn)線的工作的時(shí)間，從而能大幅 提高勞動的生產(chǎn)率。 1.2 機(jī)械手的發(fā)展現(xiàn)狀及應(yīng)用 機(jī)械手的迅速發(fā)展是因?yàn)樗姆e極作用正逐漸被人們所認(rèn)可；第一，它能部分代替 體力人工操作；第二，它可以按照生產(chǎn)工藝的要求，按照一定的程序，時(shí)間和位置來完 成工作的傳送和裝卸；第三，它能操作必要的器具進(jìn)行焊接和裝配。從而改善人們的勞 動條件，顯著的提高勞動生產(chǎn)率，加快實(shí)現(xiàn)工業(yè)生產(chǎn)機(jī)械化和自動化的步伐。因此，各 先進(jìn)工業(yè)國家都對此十分重視，投入大量的人力物力進(jìn)行研究和應(yīng)用。尤其在高溫、高 壓、粉壓、噪音以及帶有放射性的污染的場合應(yīng)用得更為廣泛。在我國，近幾年來也有 較快的發(fā)展，并取得一定的效果，受到機(jī)械工業(yè)和鐵路工業(yè)部門的重視 [2]。 1.2.1 世界機(jī)器人發(fā)展?fàn)顩r 國外機(jī)器人領(lǐng)域發(fā)展近幾年有如下幾個(gè)趨勢： （1）. 工業(yè)機(jī)器人性能不斷提高（高速度、高精度、高可靠性、便于操作和維修） ， 而單機(jī)價(jià)格不斷下降。 （2） ．機(jī)械結(jié)構(gòu)向模塊化、可重構(gòu)化發(fā)展。例如關(guān)節(jié)模塊中的伺服電機(jī)、減速機(jī)、 檢測系統(tǒng)三位一體化；由關(guān)節(jié)模塊、連桿模塊用重組方式構(gòu)造機(jī)器人整機(jī)；國外已有模 塊化裝配機(jī)器人產(chǎn)品問市。 （3） ．工業(yè)機(jī)器人控制系統(tǒng)向基于 PC 機(jī)的開放型控制器方向發(fā)展，便于標(biāo)準(zhǔn)化、網(wǎng) 絡(luò)化；大大提高了系統(tǒng)的可靠性、易操作性和可維修性。 （4） ．機(jī)器人中的傳感器作用日益重要，除采用傳統(tǒng)的位置、速度、加速度等傳感 3 器外，裝配、焊接機(jī)器人還應(yīng)用了視覺、力覺等傳感器，多傳感器融合配置技術(shù)在產(chǎn)品 化系統(tǒng)中已有成熟應(yīng)用。 （5） ．虛擬現(xiàn)實(shí)技術(shù)在機(jī)器人中的作用已從仿真、預(yù)演發(fā)展到用于過程控制。 （6） ．當(dāng)代遙控機(jī)器人系統(tǒng)的發(fā)展特點(diǎn)不是追求全自治系統(tǒng)，而是致力于操作者與 機(jī)器人的人機(jī)交互控制，使智能機(jī)器人走出實(shí)驗(yàn)室進(jìn)入實(shí)用化階段。 (7)．機(jī)器人化機(jī)械開始興起。從 94 年美國開發(fā)出“虛擬軸機(jī)床” 以來，這種新型裝置 已成為國際研究的熱點(diǎn)之一，紛紛探索開拓其實(shí)際應(yīng)用的領(lǐng)域 [3]。 1.2.2 我國工業(yè)機(jī)器人的發(fā)展 有人認(rèn)為，應(yīng)用機(jī)器人只是為了節(jié)省勞動力，而我國勞動力資源豐富，發(fā)展機(jī)器人 不一定符合我國國情。這是一種誤解。在我國，社會主義制度的優(yōu)越性決定了機(jī)器人能 夠充分發(fā)揮其長處。它不僅能為我國的經(jīng)濟(jì)建設(shè)帶來高度的生產(chǎn)力和巨大的經(jīng)濟(jì)效益， 而且將為我國的宇宙開發(fā)、海洋開發(fā)、核能利用等新興領(lǐng)域的發(fā)展做出卓越的貢獻(xiàn)。 我國的工業(yè)機(jī)器人從 80 年代“七五”科技攻關(guān)開始起步，在國家的支持下，通過“七五” 、 “八五”科技攻關(guān)，目前已基本掌握了機(jī)器人操作機(jī)的設(shè)計(jì)制造技術(shù)、控制系統(tǒng)硬件和 軟件設(shè)計(jì)技術(shù)、運(yùn)動學(xué)和軌跡規(guī)劃技術(shù)，生產(chǎn)了部分機(jī)器人關(guān)鍵元器件，開發(fā)出噴漆、 弧焊、點(diǎn)焊、裝配、搬運(yùn)等機(jī)器人；其中有 130 多臺套噴漆機(jī)器人在二十余家企業(yè)的近 30 條自動噴漆生產(chǎn)線（站）上獲得規(guī)模應(yīng)用，弧焊機(jī)器人已應(yīng)用在汽車制造廠的焊裝線 上。但總的來看，我國的工業(yè)機(jī)器人技術(shù)及其工程應(yīng)用的水平和國外比還有一定的距離， 如：可靠性低于國外產(chǎn)品；機(jī)器人應(yīng)用工程起步較晚，應(yīng)用領(lǐng)域窄，生產(chǎn)線系統(tǒng)技術(shù)與 國外比有差距；在應(yīng)用規(guī)模上，我國已安裝的國產(chǎn)工業(yè)機(jī)器 存檔編碼： 無錫太湖學(xué)院 2013 屆畢業(yè)作業(yè)周次進(jìn)度計(jì)劃、檢查落實(shí)表 系別：信機(jī)系 班級：機(jī)械93 學(xué)生姓名： 戴鵬飛 課題（設(shè)計(jì)）名稱：液壓機(jī)械手設(shè)計(jì) 開始日期：2012年11月12日 周 次 起止日期 工作計(jì)劃、進(jìn)度 每周主要完成內(nèi)容 存在問題、改進(jìn)方法 指導(dǎo)教師意見并簽字 備 注 1-3 2012年11月12日-2012年12月2日 查閱相關(guān)資料，完成開題報(bào)告 按照任務(wù)書要求查閱論文相關(guān)參考資料，填寫畢業(yè)設(shè)計(jì)開題報(bào)告書 參考資料不太詳細(xì)，論文中相關(guān)的設(shè)計(jì)結(jié)構(gòu)比較分散，要將各論文中設(shè)計(jì)的部件整合起來一起研究分析 4-10 2012年12月3日-2013年1月20日 指導(dǎo)專業(yè)實(shí)訓(xùn)，要求了解企業(yè)結(jié)構(gòu) 進(jìn)入工廠實(shí)習(xí)，了解企業(yè)生產(chǎn)流程 初次進(jìn)入工廠實(shí)習(xí)，對生產(chǎn)結(jié)構(gòu)不太熟悉，要多動手做，加強(qiáng)熟悉工作流程 11 2013年2月11日-2月16日 查找一篇與論文相關(guān)的學(xué)術(shù)性英文資料，要求是期刊論文 查找一篇關(guān)于液壓機(jī)械手的學(xué)術(shù)性英文資料 如何查找英文資料還不太清楚，要多加學(xué)習(xí) 12 2013年2月18日-2月23日 嚴(yán)格按照要求翻譯英文資料，其中公式必須用公式編輯器輸入 翻譯英文資料 翻譯中遇到很多專業(yè)術(shù)語，翻譯語句不通順，加強(qiáng)英語練習(xí)，通順語句 13 2013年3月4日-3月8日 指導(dǎo)完成液壓機(jī)械手的總體結(jié)構(gòu)方案設(shè)計(jì) 確定液壓機(jī)械手的總體設(shè)計(jì)方案，整理設(shè)計(jì)思路 設(shè)計(jì)思路不夠明確，對于所要完成的任務(wù)還不是十分清楚，要明確目標(biāo)，設(shè)定計(jì)劃 14 2013年3月4日-3月9日 指導(dǎo)繪制裝配圖 開始繪制液壓機(jī)械手的裝配圖 運(yùn)動機(jī)理不清楚,部件圖紙不全,多查找相關(guān)資料 15 2013年3月11號-3月16日 完成裝配圖的繪制 完成裝配圖的繪制，并檢查修改 對于各部件的裝配關(guān)系不太清楚，要理清各部件間的裝配 16 2013年3月18日-3月23日 指導(dǎo)完成部件圖的繪制 完成繪制機(jī)頭部件的圖紙 部分圖紙不全，缺少零件,多查找相關(guān)資料 17 2013年3月25日-3月30日 指導(dǎo)完成部件圖的繪制 對已畫出的部件圖紙進(jìn)行完善修改 缺少相應(yīng)的尺寸,明細(xì)表不完善 周 次 起止日期 工作計(jì)劃、進(jìn)度 每周主要完成內(nèi)容 存在問題、改進(jìn)方法 指導(dǎo)教師意見并簽字 備 注 18 2013年4月1日-4月6日 完成零件圖的繪制 完成主軸運(yùn)動的設(shè)計(jì)，并畫出零件圖紙 不知道使用哪種結(jié)構(gòu)最佳，要建立模型，受力分析，確定最佳結(jié)構(gòu) 19 2013年4月8日-4月13日 完成零件圖的繪制 完成底座升降臺設(shè)計(jì)，并畫出圖紙 部分圖紙尺寸不全，多查找相關(guān)資料，估算尺寸 20 2013年4月15日-4月20日 完成零件圖的繪制 完成手臂設(shè)計(jì)計(jì)算，畫出零件圖 對絲杠的設(shè)計(jì)計(jì)算比較生疏，查閱書籍，按照書上步驟一步一步設(shè)計(jì)計(jì)算 21 2013年4月22日-4月27日 指導(dǎo)說明書初稿寫作 根據(jù)所下載的資料，構(gòu)思并開始寫說明書 對各章應(yīng)寫哪些內(nèi)容比較模糊，可根據(jù)設(shè)計(jì)的圖紙，著重介紹個(gè)部件 22 2013年4月29日-5月3日 指導(dǎo)說明書二稿寫作、修改 將整篇文章的脈絡(luò)、細(xì)節(jié)加以完善，用詞 準(zhǔn)確，不出現(xiàn)病句等。 有很多細(xì)節(jié)錯誤，將文章再復(fù)查一邊，避免出現(xiàn)語句上的和細(xì)節(jié)方面的錯誤 23 2013年5月6日-5月10 指導(dǎo)修改說明書并定稿 說明書按照模板進(jìn)行修改 格式經(jīng)常出錯，耐心修改，要熟練使用word各項(xiàng)功能 24 2013年5月13日-5月18日 說明書及相關(guān)資料、圖紙打印裝訂 打印說明書和圖紙及相關(guān)資料 論文格式嚴(yán)格按照學(xué)校的規(guī)范進(jìn)行修改,完善 25 2013年5月20日-5月25日 指導(dǎo)學(xué)生整理資料，準(zhǔn)備答辯 整理資料，并熟讀資料，做好充分準(zhǔn)備 存在很多細(xì)節(jié)方面的錯誤，應(yīng)認(rèn)真檢查并及時(shí)改正 說明： 1、“工作計(jì)劃、進(jìn)度”、“指導(dǎo)教師意見并簽字”由指導(dǎo)教師填寫，“每周主要完成內(nèi)容”，“存在問題、改進(jìn)方法”由學(xué)生填寫。 2、本表由各系妥善歸檔，保存?zhèn)洳椤? COMBINATION OF ROBOT CONTROL AND ASSEMBLY PLANNING FOR A PRECISION MANIPULATOOR Abstract This paper researches how to realize the automatic assembly operation on a two-finger precision manipulator. A multi-layer assembly support system is proposed. At the task-planning layer, based on the computer-aided design (CAD) model, the assembly sequence is first generated, and the information necessary for skill decomposition is also derived. Then, the assembly sequence is decomposed into robot skills at the skill-decomposition layer. These generated skills are managed and executed at the robot control layer. Experimental resulte show the feasibility and efficiency of the proposed system. Keywords ：Manipulator Assembly planning Skill decomposition Automated assembly 1Introduction Owing to the micro-electro-mechanical systems (MEMS) techniques, many products are becoming very small and complex, such as microphones, micro-optical components, and microfluidic biomedical devices, which creates increasing needs for technologies and systems for the automated assembly have been focused on microassembly technologies. However, microassembly techniques of high flexibility, efficiency, and reliability skill open to further research. This paper researches to how to realize the automatic assembly operation on a two-finger micromanipulator. A muli-layer assembly support system is proposed. Automatic assembly is a complex problem which may involve many different issues, such as task planning, assembly sequences generation, execution, and control, etc. It can be simply divided into two phases, the assembly planning and the robot control. At the assembly-planning phase, the information necessary for assembly operation, such as the assembly sequence, is generated. At the robot control phase, the robot is driven based on the information generated at the assembly-planning phase, and the assembly operations are conducted. Skill primitives can work as the interface of assembly planning to robot control. Several robot systems based on skill primitives have been reported. The basic idea behind these systems is the robot programming. .Robot movements are specified as skill primitives, based on which the assembly task is manually coded into programs. With the programs, the robot is control to assembly tasks automatically. A skill-based micromanipulation system has been developed in the authors’ lab, and it can realize many micromanipulation operations. In the system, the assembly task is manually discomposed into skill sequences and complied into a file. After importing the file into the system, the system can automatically execute the assembly task. This paper attempts to explore a user-friendly, and at the same time easy, sequence-generation method, to relieve the burden of manually programming the skill sequence. It is an effective method to determine the assembly sequence from geometric computer-aided design (CAD) models. Many approaches have been proposed. This paper applies a simple approach to generate the assembly sequence. It is not involved with the low-level data structure of the CAD model, and can be realized with the application programming interface (API) functions graph among different components is first constructed by analyzing the assembly model, and then, possible sequences are searched, based on the graph. According to certain criterion, the optimal sequence is finally obtained. To decompose the assembly sequence into robot skill sequences, some works have been reported. In Nnaji et al.’work, the assembly task commands are expanded to more detailed commands, which can be as robot skills, according to a predefined format. The decomposition approach of Mosemann and wahl is based on the analysis of hyperarcs of AND/OR graphs representing the automatically generated assembly plans. This paper proposes a method to guide the skill decomposition .The assembly processes of parts are grouped into different start atate and target of the workflow, the skill generator creates a series of skills that can promote the part to its target state. The hierarchy of the system proposed here, the assembly information on how to assemble a product is transferred to the robot through multiple layers. Te top layer is for the assembly-task planning. The information needed for the task planning and skill generation are extracted from the CAD model and are saved in the database. Base on the CAD model, the assembly task squences are generated. At the skill-decomposition layer, tasks are decomposed into skill sequences. The generated skills are managed and executed at the robot control layer. 2 Task planning Skills are not used directly at the assembly-planning phase, the concept of a task is used. A task can fulfill a series of assembly operations, for example, from locating a part, through moving the part, to fixing it with another part. In other words, one task includes many functions that may be fulfilled by several different skills. A task is defined as: T = (Base Part; Assembly Part; Operation) Based-part and Assembly-Part are two parts that are assembled together. Base-part is fixed on the worktable, while Assembly-Part is handled by robot’s end- effector and assembled onto the Base-Part. Operation describes how the Assembly-Part is assembled with the Base-Part; Operation={Intertion-T,serew-T,align-T,…}. The structure of microparts is usually uncomplicated, and they can be modeled by the constructive solid geometry (CAG) method. Currently, many commercial CAD software packages can support 3D CSG modeling. The assembly model is represented as an object that consists of two parts with certain assembly relations that define how the parts are to be assembled. In the CAD model, the relations are defined by geometric constraints. The geometric information cannot be used directly to guide the assembly operation-we have to derive the information necessary for assembly operations from the CAD model. Through searching the assembly tree and geometric relations (mates’ relations) defined in the assembly’s CAD model, we can generate a relation graph among parts, for example, In the graph, the nodes represent the parts. If nodes are connected, it means that there are assembly relations among these connected nodes (parts). 2.1 Mating direction In CSG, the relations of two parts, geometric constraints, are finally represented as relations between planes and lines, such as collinear, coplanar, tangential, perpendicular, etc. For example, a shaft is assembled in a hole. The assembly relations between the two parts may consist of such two constraints as collinear between the centerline of shaft Lc-shaft and the centerline of hole Lc-hole and coplanar between the P-Shaft and the plane P-Hole. The mating direction is a key issue, for an assembly operation. This paper applies the following approach to compute the possible mating direction based on the geometric constraints (the shaft-in-hole operation of Fig. 3 is taken as an example): For a part in the relation graph, calculate its remaining degrees of freedom, also called degrees of separation, of each geometric constraint. For the conplanar constraint, the remaining degrees of freedom are R1= {x,y,Rotz }. For the collinear constraint, the remaining degrees of freedom are R2= {z,Rotz}. R1 and R2 can also be represented as R1= {1,1,0,0,0,1} and R2{0,0,1,0,0,1}. Here, 1 means that there is a degree of separation between the two parts. R1R2= {0,0,0,0,1},and so, the degree of freedom around the z axis will be ignored in the following steps. In the ease that there is loop in the relation graph, such as parts Part5,Part6, and Part 7 in Fig. 2,the loop has to be broken before the mating direction is calculated. Under the assumption that all parts in the CAD model are fully constrained and not over-constrained, the following simple approach is adopted. For the part t in the loop, calculate the number of is in Nin=Ri1Ri2...Rin; where R is the remaining degrees of freedom of constraint k by part i. For example, in Fig. 2, given that the number of 1s in U is larger than U, then it can be regarded that the position of part 7 is determined by constraints between part 5 and part 6,while Part5 and Part6 can be fully constrained by constraints between Part 5 and Part 6. we can unite Part 5 and Part 6 as one node will be regarded as a single, but it is obvious that the composite node implies an assembly sequence. Calculate mating directions for all nodes in the relation graph. Again, beginning at the state that the shaft and the hole are assembled, separate the part in one degree of separation by a certain distance (larger than the maximum tolerance), and than check if interference occurs. Separation in both ±x axis and ±y axis of R1 causes the interference between the shaft and the hole. Separation in the +z direction raises on interference. Then, select the +z direction as the mating direction, which is represented as a vector M measured in the coordinate system of the assembly. It should be noted that , in some case, there may be several possible mating directions for a part. The condition for assembly operation in the mating direction at the assembled state, which can be checked simply with geometric constraints, the end condition is measured by force sensory information, whereas position information is used as an end condition. Calculate the grasping position. In this paper, parts are handled and manipulated with two separate probes, which will be discussed in the Sect.4, and planes or edges are considered for grasping. In the case that there are several mating directions, the grasping plans are selected as G1G2…Gi, where Gi is possible grasping plane/edge set for the ith mating direction when the part is at its free state. For example, in Fig. 4, the pair planes P1/P1’, P2/P2’, and P3/P3’ can serve as possible grasping planes, and then the grasping planes are {P1/P1’, P2/P2’, P3/P3’}/{P1/P1’, P3/P3’}/{P1/P1’,P2/P2’}={P1/P1’} The approaching direction of the end-effector is selected as the normal vector of the grasping planes. It is obvious that not all points on the grasping plane can be grsped. The following method is used to determine the grasping area. The end-effector, which is modeled as a cuboid, is first added in the CAD model, with the constraint of coplanar or tangential with the grasping plane. Beginning at the edge that is far away from the Bae-Part in the mating direction, move the end-effector in the mating direction along the grasping plane until the end-effector is fully in contact with the part, the grasping plane is fully in contact with the end-effector, or a collision occurs. Record the edge and the distance, both of which are measured in the part’s coordinate system. Separate gradually the two parts along the mating direction, which checking interference in the other degrees of separation, until no interference occurs in all of the other degrees of separation. There is obviously a separation distance that assures interference not to occur in every degree of separation. It is called the safe length in that direction. This length is used for the collision-free path calculation, which will be discussed in the following section. 2.2 Assembly sequence Some criteria can be used to search the optimal assembly sequence, such as the mechanical stability of subassemblies, the degree of parallel execution, types of fixtures, etc. But for microassembly, we should pay more attention to one of its most important features, the limited workspace, when selecting the assembly sequence. Microassembly operations are usually conducted and monitored under microscopy, and the workspace for microassembly is very small. The assembly sequence brings much influence on the assembly efficiency. For example, a simple assembly with three parts. In sequence a, part A is first fixed onto part B. In the case that part C cannot be mounted in the workspace at the same time with component AB because of the small workspace, in order to assemble part C with AB, component AB has to unmounted from the workspace. Then, component C is transported and fixed into the workspace. After that, component AB is transported back into the workspace again. In sequence b, there is no need to unmount pay part. Sequence a is obviously inefficient and may cause much uncertainty by an assembly sequence , the more inefficient the assembly sequence. In this paper, due to the small-workspace feature of microassembly, the number of times necessary for mounting of parts is selected as the search criteria to find the assembly sequence that has a few a number of times for the mounting of parts as possible. This paper proposes the following approach to search the assembly sequence. The relation graph of the assembly is used to search the optimal assembly sequence. Heuristic approaches are adopted in order to reduce the search times: Check nodes connected with more than two nodes. If the mating directions of its connected nodes are different, mark them as inactive nodes, whereas mark the same mating directions as active mating direction. Select a node that is not an inactive node. Mark the current node as the base node (part). The first base part is fixed on the workspace with the mating direction upside (this is done in the CAD model).Compare the size (e.g., weight or volume) of the base part with its connected parts, which can be done easily by reading the bill of materials (BOM) of the assembly. If the base part is much smaller, then mark it as an inactive node. Select a node connected with the base node as an assembly node (part). Check the mating direction if the base node needs to be unmounted from the workspace. If needed, update a variable In the CAD model, move the assembly part to the base part in the possiblemting direction, which checking if interference (collision) occurs. If interference occurs, mark the base node as an inactive node and go to step 2, whereas select the Operation type according to parts’ geometric features. In this step, an Obstacle Box is also computed. The box, which is modeled as a cuboid , includes all parts in the workspace. It is used to calculate the collicion-free path to move the assembly part, which will be introduced in the following section. The Obstacle Box is described by a position vector and its width, height, and length. Record the assembly sequence with Operation type, the mating direction, and the grasping position. If all nodes have been searched, then mark the first base node as an inactive node and go to step 2. If not, select a node connected with the assembly node. Mark it as an assembly node, and the assembly node that is same as the mating direction of the former assembly node. If there is, use the former mating direction in the following steps. Go to step 3. After searching the entire graph , we may have search assembly sequence s. Comparing the values of mount , the more efficient one can be selected. If there are N nodes in the relation graph of Fig. 2b , all of which are not classed as inactive node, and each node may have M mating directions, then it needs M computations to find all assembly sequences. But because, usually, one part only has one mating direction, and there are some inactive nodes, the computation should be less than Mn. It should be noted that, in the above computation, several coordinate systems are involved, such as the coordinates of the assembly sequences, the coordinates of the base part, and the coordinates, of the assembly. The relations among the coordinates are represented by a 4*4 transformation matrix , which is calculated based on the assembly CAD model when creating the relations graph. These matrixes are stored with all o the related parts in the database. They are also used in skill decomposition. 3 Skill decomposition and execution 3.1 Definition of skill primitive Skill primitives are the interface between the assembly planning and robot control. There have been some definitions on skill primitives. The basic difference among these definitions is the skill’s complexity and functions that one skill can fulfill. From the point of view of assembly planning, it is obviously better that one skill can fulfill more functions. However, the control of a skill with many functions may become complicated. In the paper, two separate probes, rather than a single probe or process is not easy. In addition, for example, moving a part may involve not only the manipulator but also the worktable. Therefore, to simplify the control process, sills defined in the paper do not include many functions. More importantly, the skills should be easily applied to various assembly tasks, that is, the set of skill should have generality to express specific tasks. There should not be overlap among skill. In the paper, a skill primitive for robot control is defined as: Attribute -I, Action -i(Attribute -i), Si= Start -i(Attribute -i), End -i(Attribute -i) Condition -i(Attribute -i). Attribute –I Information necessary for Si to be executed. They can be classified as required attributes and option attributes, or sensory attributes and CAD-model-driven attributes. The attributes are represented by global variables used in different layers. Action_I Robots’ action, which is the basic sensormotion. Many actions are defined in the system, such as Move_Worktable, Move_Probes, Rotation_Worktable, Rotation_Probes, Touch, Insert, Screw, Grasp, ect. For one skill, there is only one Action. Due to the limited space, the details of actions will not be discussed in the paper. Start_i The start state of Action_i, which is measured by sensor values. End_i The end state of Action_i, which is measured by sensor values. Condition_i The condition under which Action_i is executed. From the above definitions, we may find that skill primitives in the paper bobot motions with start state and end state, and that they are executed under specific conditions. Assembly planning in the paper is to generate a sequence of robot actions and to assign values to attributes pf thede actions. 3.2 Skill decomposition Some approaches have been proposed for skill decomposition. This paper presents a novel approach to guide the skill decomposition. As discussed above, in the present paper, a task is to assemble the Assembly_Part with the Base_part. We define the process from the state that Assembly_Part is at a free state to the state it is fixed with Bese_Part as the assembly lifestyle of the Assembly_Part. In its assembly lifecycle, the Assembly_Part may be at different assembly states. Here shows a shaft’s sates show as blocks and associated workflows of an insertion task. A workflow consisting of group of skills pushes forward the Assembly_Part from one state to another state. A workflow is associated with a specific skill generator that is in charge of generating skills. For different assembly tasks, the same workflows may be uded, though specific skills generated for different tasks may be different. The system provides default task templates, in which default states are defined. These templates are imported into the system and instantiated after they are associated with the corresponding Assembly_Part. In some cases, some states defined by the default template may be not needed. For example, determined by the fixture, then the Free and In_WS states can be removed from the shaft’s assembly lifecycle. The system provides a tool for users to modify thede templates or generate their own templates. The tool’s user interface is displayed in. For a workflow, the start state is measured by sensory values, which the target state is calculated based on the CAD model and sensory attributes. According to the start state and target state, the generator generates a series of skills. Here, we use the Move workflow in as an example to show how skills are gener