董云龙,李祥飞,刘行,赵欢,葛东升,尹业灿,陈旷达,黄庭安,袁烨,丁汉

• 1:华中科技大学人工智能与自动化学院
• 2:华中科技大学机械科学与工程学院
• 3:华东理工大学信息科学与工程学院

摘要(Abstract)：

零构件装配是航空航天装备制造的最终阶段和关键环节,机器人是提高航空航天装备零构件装配自动化智能化水平的重要载体,也是当前装配和机器人研究领域的难点和前沿。为此,本文从航空航天领域装配需求出发,通过剖析复杂零件、可变形线性零件、大型构件这三类典型零构件的机器人装配过程可知,航空航天零构件机器人装配的核心在于解决机器人的顺应、灵巧和协同问题。然后,从状态感知、规划与决策、力位精准调控、多机/人机协同装配四个方面系统总结当前机器人装配理论与技术的研究与应用现状。最后,探讨了航空航天领域机器人装配的未来研究方向。

关键词(KeyWords)： 航空航天;机器人装配;状态感知;规划与决策;力位精准调控;多机/人机协同装配

Abstract:

Keywords:

基金项目(Foundation): 国家自然科学基金(92167201);; 中国博士后科学基金(2021M701307)

作者(Author): 董云龙,李祥飞,刘行,赵欢,葛东升,尹业灿,陈旷达,黄庭安,袁烨,丁汉

DOI: 10.16453/j.cnki.ISSN2096-5036.2022.03.001

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