提出用约束网络方法对机器人柔性装配系统进行建模，该建模方法用变量描述装配对象与装配工艺、系统结构的约束关系，改变了传统装配系统的串行设计模式，该方法具有灵活性、易于修改和多向性，能较好地利用并行工程概念对系统进行设计。 The constrained network method is used to model the flexible assembly system of robots. The modeling method uses variables to describe the constraint relationship between assembly objects and assembly process and system structure, and changes the serial design mode of the traditional assembly system. The method has the advantages of flexibility, Easy to modify and multi-directional, can make good use of the concept of concurrent engineering to design the system.