Precision analysis and visual inspection in automatic assembly system for components with complex spatial structures

This article introduces a dual robotic arms collaborative automatic assembly system designed for complex spatial structural components, with a focus on the precision analysis and error modeling during the assembly process of box 1. The system effectively addresses the challenges of spatial assembly through the coordinated work of dual robotic arms and establishes an error propagation model based on multibody kinematics theory and homogeneous transformation theory. Utilizing high-precision visual detection technology, the system enables real-time monitoring and correction of deviation angles and offsets during the assembly process, thereby verifying the accuracy of the error propagation model.