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为开展非确定环境下机器人智能装配策略的研究，对原示教－再现型四自由度ＳＣＡＲＡ装配机器人进行了改造，使其变成微机控制的五自由度装配机器人，并建立了基于力／位姿信息的装配状态监控实验系统，针对实际产品３ＳＥ３行程开关芯体与壳体的装配过程进行了插装装配控制策略的研究．
In order to carry out the intelligent assembly strategy of robot in nondeterministic environment, the SCARA four-DOF robot was modified to be a computer-controlled five-freedom assembly robot and a force / Attitude information of the assembly state monitoring experimental system for the actual product 3SE3 trip switch core and shell assembly process for the assembly control strategy.