Assembly by industrial robots with CAD/CAM and vision control periphery

There are two bottlenecks of broader applictions of industrial robots: off-line-programming must be more efficiently used and the accurate positioning must be achieved by sensor feedback if necessary. In the following an assembly system is presented with which it is possible to realize an automatic production of printed circuit boards in nonrepeating quantities of 1 by a change-over related to software and hardware without reducing the system availability. This is realized by two robots with fully overlapping workspaces. One robot is handling the magazines and the pc boards while the other robot is mounting the components. The tolerances of the components itself is controlled by vision system. The robot programms are generated automatically using the CAD datas of the pc board and the components.