Assembly robots are the core equipment of flexible automation assembly systems, consisting of robot operators, controllers, end effectors, and sensing systems. The structural types of the operators include horizontal joint type, Cartesian coordinate type, multi joint type, and cylindrical coordinate type; Controllers generally use multi CPU or multi-level computer systems to achieve motion control and motion programming; The end effector is designed with various claws and wrists according to different assembly objects; The sensing system is used to obtain information on the interaction between the assembly robot, the environment, and the assembly object.

At present, the most widely used assembly robot on the assembly production line is the planar articulated assembly robot, which is a precision assembly robot with the characteristics of fast speed, high precision, and good flexibility. Driven by AC servo motors, its repeated position accuracy reaches 0.025mm, which can be applied to automatic assembly, handling, debugging and other related products in electronics, machinery and light industry, meeting the needs of flexible automation production in factories. Due to the various characteristics of this robot that meet the needs of users, the demand is rapidly increasing.