Visual Analysis and Transformation Computing in Assembly Process by PUMA-560 Robot

Analysis and evaluation of product assembly performance were usually done through physical models in traditional product development process.This method is time-consuming,laborious,poor accuracy and it can not easily be modified.In this paper,the visual analysis and transformation calculation were done by reverse engineering idea PUMA-560 manipulator for virtual assembly process.Based on robot kinematics assembly relation model was established by Pro-e,and on this basis the visual assembly data was analyzed.Finally through the analysis of four different cases,four types coordinate transformation were proposed and the four corresponding calculations were derived.The correct robot position and posture were derived for intelligent assembly.