Flexibility insurance of robotic technology systems for assembling of small-sized products

The paper presents analysis of the features of robotic technological assembly lines and methods of their organization. The flexibility increasing of assembly robotic technological lines is currently provided mainly by the block-modular organization of technological lines and by various methods of technological equipment movement and structural transformation of manipulator links. For the assembly of products or their components from parts of complex configuration with various weight and size characteristics, it is recommended to use gripping devices of manipulators, which design gives the possibility to adapt the setting forces depending on the weight and dimensions of the gripped part. The growth of technological flexibility can be achieved through organizational, technical and design capabilities using a special technological assembly module of the carousel type, which main nodes are two turntables. The one turntable is designed for assembly operations. An example of a technological assembly module with three robots is given. Their interaction is carried out using computer control. In such a module, robots are arranged in a circle and the parts to be assembled are moved along a circle arc.