Multi-robot Collaborative Assembly Research for 3C Manufacturing—Taking Server Motherboard Assembly Task as an Example

摘要

In the multi-robot collaborative manufacturing, such as the server motherboard assembly task in the 3C industry, the characteristic of the operating process and the uncertainty of the assembly environment make this problem difficult to be solved in an efficient way. This paper addresses the key points of this problem. Firstly, a series of end effectors for 3C assembly operation is designed. After analyzing precision and scope for different steps in the assembly process, the positioning systems with different precision and scope are designed and are chosen for better performance in different operations. Finally, compliant control is introduced in the inserting process where the positioning system does not perform well to further increase the success rate. Experiments illustrate the superiority of our ideas. Due to its convenience and generality, the present approach can be expected to apply to more general industrial scenarios.