
A part is considered to be necessarily separate from those previously assembled if one of four conditions apply to the part. Otherwise, it can be eliminated. Firstly, if the part or sub-assembly moves relative to its mating part during the normal function of the final assembly then it must be a separate part. Secondly, if the part or sub-assembly must be of a different material than its mating part (eg. for insulation, vibration damping) then it must be a separate part. Thirdly, if disassembly of the part or sub-assembly must be allowed for (e.g. servicing requirements, recycling) then it must be a separate part. Finally, if the part or sub-assembly, when combined with it’s mating part, would prevent the assembly of other separate parts (except where the part's only function is to fasten) then it must be a separate part.

CONCLUSIONS
The use ofassembly robots will increase in the future if the ancillary equipment, i.e. end effectors and parts feeders, are as flexible as the robot. The feeding devices should present the parts in a known orientation so that the dexterity required from the robot is low. The cycle time of the operation would be lowered and, consequently, the assembly rate increased. The flexibility of the feeders is ensured by using devices with a low special-purpose content. An indexing turret, used for gripper mounting, minimizes the time lost due to gripper changing. For any form of gripper mounting, the cycle time can be minimised by using a sequence of assembly which needs the least number of gripper changes. Operator involvement can be minimised by developing strategies which allow the robot to recover from error situations, without the assistance of manual labour. The cost of robot assembly can be minimised by designing the product for robot assembly. This involves using the minimum number of parts and ensuring that the parts can be easily handled and inserted.
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