A framework for the robotic assembly of parts with general geometries†

This is a sequel of a paper entitled: ‘A framework for the economic evaluation of production system and product design alternatives for robot assembly’ (AbdelMalek and Boucher 1985). The previous work introduced guidelines for the robotic assembly of a ‘peg-in-a-hole’. This paper extends the previous work to cover the robotic assembly of parts with general geometries. The paper analyses the effect of the diiferent parameters involved in the robotic assembly process on its feasibility.