System and method for performing assembly tasks with a robot

Abstract

A system for performing assembly or production tasks in a proven manner includes: an n-axis robot having a base and an articulated arm connected to the base and movable relative to the base along n machine axes, the articulated arm including a first articulated arm portion and a second articulated arm portion. The system also includes a tool having a first functional element and a second functional element. The first functional element is coupled to the first articulated arm portion such that it participates in movements operable by the first articulated arm portion. The second functional element is coupled to the second articulated arm portion such that it participates in movements operable by the second articulated arm portion relative to the first articulated arm portion and the first functional element in a robot joint.

Description

[0001] This invention relates to a system and method for performing assembly or production tasks in a proven manner. Assembly tasks may involve applying a fluid medium, such as, in particular, an adhesive or glue, to a workpiece. For example, it can be applied by deposition or spraying. However, assembly tasks can also be tasks of clamping, reshaping, or joining one or more workpieces. The system includes an n-axis robot, preferably an industrial or general-purpose robot, having a base and an articulated arm connected to the base and capable of movement relative to the base along n machine axes. The system also includes a robot controller for controlling and / or regulating the movement of the articulated arm along the n machine axes. The robot controller may be specifically designed to control and / or regulate the robot in all its degrees of freedom.

[0002] Articulated robots, such as general-purpose or industrial robots, suitable for the purposes of this invention, typically include a final articulated arm portion designed to house tools for performing assembly tasks, such as those mentioned above as examples. Typical tools, such as jigs, welding tools, crimping tools, and adhesive application tools, include functional elements movable relative to each other, and also include their own actuators having one or more rotary and / or translational motors or actuating elements or actuators and / or one or more drive units for one or more functional elements. Examples of such tools are known from WO2014 / 126675A1, EP2307167B1, and EP2117745B1. The driving of the tool itself requires a drive controller that must be adapted to the inherently configured robot controller so that the movement of the tool's functional elements is coordinated with the movement of the robot for performing the assembly task. The effort and / or cost involved is considerable.

[0003] The object of the present invention is to provide a system of the type described above, which has reduced effort and / or cost.

[0004] One objective could be to reduce the effort and / or cost that must be expended in terms of control and / or regulation tools.

[0005] To reduce the number of parts and / or simplify one or more components of a tool.

[0006] The subject of this invention is a system of an articulated arm robot of the type described at the beginning. The robot's n-axis articulated arm includes a first articulated arm portion and a second articulated arm portion in its total n machine axes. The first and second articulated arm portions are connected in robot joints such that they are capable of rotational movement about one of the machine axes and / or translational and axial movement along said machine axis. The system also includes a tool for assembly tasks, the tool having a first functional element and a second functional element, wherein at least one functional element can move relative to the other functional element in a coordinated manner for performing the assembly task. The first functional element is coupled to the first articulated arm portion such that it participates in movements that can be performed by the first articulated arm portion. The second functional element is coupled to the second articulated arm portion such that it participates in movements that can be performed by the second articulated arm portion relative to the first articulated arm portion and the first functional element in the robot joint, in order to perform the assembly task. The first functional element may be particularly immovably connected to the first articulated arm portion, and / or the second functional element may be particularly immovably connected to the second articulated arm portion.

[0007] The first functional element may be, for example, part of the housing or welding clamp, or some other element, which cannot move relative to the first hinge arm portion when it is properly connected to the first hinge arm portion.

[0008] The robot controller is designed to control and / or adjust the position and / or speed of movement relative to the first articulated arm portion in a robot joint, which can be performed by the second articulated arm portion, in order to initiate and execute the motion and / or function of the second functional element in a validated manner.

[0009] This invention utilizes one of the robot's machine axes, i.e., one of the robot's inherent machine axes, to perform the tool's function. Simultaneously, by directly integrating the robot controller, already mounted on the robot, into the tool's functionality, the effort and / or cost required to control and / or regulate the system comprising the robot and the tool are reduced. The robot actuators for connecting the robot joints of the first and second articulated arm portions, i.e., the robot actuators for the relevant articulated axes, can replace drive motors, such as electric, pneumatic, or hydraulic rotary or linear motors, which would otherwise have to be mounted on the tool.

[0010] For example, the direction of motion, tracking of a predetermined motion curve, pressure of the second functional element on the workpiece, period of action on the workpiece at a point, rotational angular position of the second functional element, and at least one of many other motion parameters, time parameters, and pressure parameters of the second functional element can be controlled or adjusted according to the assembly task to be performed.

[0011] Preferably, the first articulated arm portion or the second articulated arm portion, especially the second articulated arm portion, is the final articulated arm portion of the robot, and the final articulated arm portion is n machine axes away from the base. The final articulated arm portion can also be referred to as a robotic arm.

[0012] The first functional element may include means for protecting the second functional element, wherein the protective means is, for example, elastically retractable or movable to the side and relative to the first articulated arm portion, so as to expose the second functional element when the tool for performing the assembly task is guided to the workpiece. Even so, for the purposes of this application, the first functional element does not move relative to the first articulated arm portion. The protective means may include a suction device such that, for example, chips accumulated during machining and / or supplied coolant can be removed at its origin. The protective means may also seal the machining space such that, for example, it can be operated in a protective gas atmosphere or using a liquid coolant.

[0013] Sensors, such as imaging sensors, can also be connected to the first functional element and / or the first articulated arm portion. Using these sensors, in particular, the quality of the work being performed, the condition of the processing area prior to processing, and / or the position of the second functional element relative to the workpiece can be inspected and monitored. Sensors can also be used to reproducibly record the quality of the work.

[0014] Preferably, the machine axis is the nth machine axis of the robot relative to the second articulated arm portion that can move relative to the first articulated arm portion, and n is a natural number greater than 2, preferably n equal to 6. The manipulator or the second articulated arm portion may therefore, for example, each include a sixth machine axis, and the manipulator may be connected in the fifth machine axis to an adjacent articulated arm portion in the base direction or to the first articulated arm portion, or, if the second articulated arm portion is the final articulated arm portion of the robot's articulated arms, to the penultimate articulated arm portion.

[0015] The nth machine axis or the machine axis of the manipulator can be the second or kth articulated arm part or the rotation axis, sliding axis or rotational sliding axis of the manipulator, where n is the number of machine axes, which can be a natural number other than k, and k is the number of articulated arm parts.

[0016] Tools can be machining tools, such as welding pliers, hollow rivet punching pliers, polishing devices, material dispensing tools for dispensing, for example, fluid materials, material testing tools, or some other tools that can be used to perform assembly tasks in a proven manner.

[0017] The tool and / or the tool's second functional element can be connected directly or via a connecting element or gear system to the nth machine axis.

[0018] The tool can be specifically designed to convert a predetermined motion of the system along the nth machine axis, such as a rotational or linear motion, into a composite motion of a second functional element, such as a linear or rotational motion, wherein the composite motion is different from the predetermined motion.

[0019] The first and second functional elements can thus form a threaded pair, an intermediate gear system, a slider guide, or a rigid chain, wherein the first functional element can form a stator, and the second functional element can form a rotor or tool component capable of linear motion. The first functional element can, for example, form a guide for the second functional element, which guides the second functional element, for example, linearly and / or in a rotationally oriented manner.

[0020] Assembly tasks or production tasks are particularly prevalent in the manufacturing of missiles, land vehicles, and ships, especially in the manufacture of vehicle bodies. Assembly tasks may include joining two workpieces, filling unavoidable assembly gaps, applying markings, compression molding, opening prepared holes, preparing surfaces for subsequent machining steps, and many other tasks.

[0021] A second aspect of the invention relates to a method for performing assembly or production tasks in a proven manner using a robot, such as an industrial robot, having at least one articulated arm and at least one manipulator connected to the articulated arm on a motion axis and having a machine axis that moves linearly or rotationally. A tool comprising a first functional element and a second functional element is connected to the articulated arm via the first functional element, the second functional element is coupled to the manipulator, the manipulator is initiated and regulated by a robot controller, and a predetermined motion of the manipulator's machine axis by the robot controller is converted by the tool into a composite motion of the coupled second functional element. The assembly or production task is performed in a proven manner via the second functional element. The task may, for example, involve gluing, folding or curling, welding, or some other joining task.

[0022] The predetermined motion of the robot's axis can be, for example, either linear or rotary. The composite motion of the second functional element is another type of linear or rotary motion. The resulting motion can also differ from the predetermined motion of the robot axis only in its speed, force, etc., while maintaining the predetermined linear or rotary motion. Preferably, the predetermined motion can differ from the composite motion.

[0023] In other words, the final motion of the machine shaft can be converted into a composite motion based on the coupling used, the gear system used, the guide used, or the force transmission device (e.g., toggle lever). To name just a few examples, such as linear motion to rotary motion, rotary motion to linear motion, linear motion to linear motion, rotary motion to rotary motion, linear motion to linear and rotary motion, or rotary motion to rotary and linear motion, wherein the composite motion is preferably different from the motion of the connected machine shaft in at least one parameter, such as its speed or force.

[0024] The first functional element may then form a guide for the second functional element, which guides the second functional element linearly and / or rotatably. The first functional element may include two or more elements that can move relative to each other, such as a telescopic device for protecting the second functional element.

[0025] To monitor, for example, the quality of work performed using tools, industrial robots may include sensor devices, such as imaging sensors, which monitor and / or inspect the workpiece area being processed by a second functional element before, during, and after processing.

[0026] The sensor devices can be attached to the robot, or separately attached to, for example, the first articulated arm portion or the first functional element. The second articulated arm portion and the first functional element may also each include sensor devices. Finally, the sensors may also be placed elsewhere, such as on a separate robot carrying only the sensor devices or on a workpiece holder, as long as they can perform inspection tasks for them.

[0027] The system also includes a controller or regulator for the robot. This can be a robot controller, which may be included in the robot's base or arranged adjacent to the robot. The controller or regulator includes a storage unit and an interface through which programs can be read into the storage unit and modified, for example, adapted or updated. The controller may also include a computer unit that translates the individual program steps into action commands for the system or its various parts. Preferably, the controller also controls or regulates the function of optional sensor devices and / or necessary devices, such as valves for supplying pressure media to open and / or close tools, or for supplying consumables to tools directly connected to them.

[0028] An industrial robot used in the method may include a base and n machine axes or motion axes for a robotic arm having k articulated arm portions. The kth articulated arm portion preferably forms a manipulator, wherein the number of motion axes n may be equal to or different from the number of articulated arm portions k.

[0029] The method is particularly applicable to assembly tasks in the manufacturing of missiles, land vehicles, and ships, especially in the manufacture of vehicle bodies. Assembly tasks may include joining two workpieces, filling unavoidable assembly gaps, applying markings, compression molding, opening prepared holes, preparing surfaces for subsequent machining steps, and many other tasks.

[0030] Exemplary embodiments of the present invention will now be explained in more detail with reference to the accompanying drawings. The drawings show:

[0031] Figure 1 This is a schematic diagram of a robot with n machine axes and k articulated arm sections;

[0032] Figure 2 It is a tool that connects to the nth machine axis and the kth articulated arm section;

[0033] Figure 3 It is a tool used to dispense fluid materials such as glue in a proven manner;

[0034] Figure 4 It is a tool for hollow rivet stamping pliers or welding pliers.

[0035] Figure 1 An example of an articulated arm robot 1, such as one used for assembly tasks in industry, is shown. The articulated arm robot 1 can be attached to a base B. The base B can be fixedly attached to, for example, the floor, wall, or ceiling of a hall, such that the articulated arm robot 1 is mounted in a way that makes it spatially fixed. The base B can be designed to move on a track or on a ceiling-mounted crane, such that the articulated arm robot 1 can move in space as a whole.

[0036] The articulated arm robot 1 includes k articulated arm segments GAAs and n machine axes A. Every two articulated arm segments GAAs that are directly continuous along the articulated arm are connected to each other in robot joints, such that they can each move about at least one of the machine axes A. In an exemplary embodiment, k = n = 6. In principle, if, for example, one of the robot joints has more than one degree of freedom, such as a ball joint, the number of articulated arm segments GAAs can also deviate from the number of machine axes A, and can be, for example, less than the number of machine axes A. However, in the exemplary embodiment, each joint has only one degree of freedom. They can, in particular, be configured as rotary joints, as is common in industrial robots, for example.

[0037] Starting from base B and extending to the free end of the robotic arm, the articulated arm portion GAA is consecutively designated as GAA1, GAA2, GAA3, GAA4, GAA5, and GAA6. Starting from base B and extending to the free end of the robotic arm, the machine axis A is sequentially designated as A1, A2, A3, A4, A5, and A6. The articulated arm portion GAA1 rotates about machine axis A1, which extends through the axial center point of the articulated arm portion GAA1. Machine axis A2 extends transversely to machine axis A1 and is the pivot axis through which the articulated arm portion GAA2 can pivot relative to the articulated arm portion GAA1. Machine axis A3 extends transversely to machine axis A2 and is the pivot axis through which the articulated arm portion GAA3 can pivot relative to the articulated arm portion GAA2. Machine axis A4 is the axis of rotation of the articulated arm portion GAA4 relative to the articulated arm portion GAA3. Machine axis A5 is a pivot axis transverse to machine axis A4, wherein articulated arm portion GAA5 can pivot relative to articulated arm portion GAA4. Finally, machine axis A6 is a rotation axis, wherein final articulated arm portion GAA6 can rotate relative to penultimate articulated arm portion GAA5.

[0038] Figure 2 The first articulated arm portion 26 and the second articulated arm portion 27 of the articulated arm 20 of a general-purpose robot or industrial robot 1 having k articulated arm portions are shown. Figure 1 The robot 1 in the design can, for example, form the general-purpose robot or industrial robot. The second articulated arm portion 27 can therefore be positioned particularly away from the robot base (e.g., Figure 1 The base B) is the furthest one, and in this sense is the final articulated arm portion GAA6, and the first articulated arm portion 26 may be the penultimate articulated arm portion GAA5 of robot 1.

[0039] The first articulated arm portion 26 is connected in the robot joint to another second articulated arm portion 27, which can rotate around the machine axis R. n-1 Pivoting. The second articulated arm section 27 has a machine axis R. n In the example embodiment shown, the machine axis R n It is the sixth machine axis R6 of the rotary drive second articulated arm section 27. The second articulated arm section 27 is the final articulated arm section of the robotic arm 20, and is therefore often referred to as the robotic arm 27.

[0040] A tool 9, including a first functional element 91 and a second functional element 92, is connected to a hinge arm 20, wherein the first functional element 91 is connected to a first hinge arm portion 26, specifically making it resistant to movement, i.e., the first functional element 91 specifically directly follows all movements of the first hinge arm portion 26, in other words, the first functional element 91 is fixedly connected to the first hinge arm portion 26 and cannot move relative to the first hinge arm portion 26 when connected.

[0041] The second functional element 92 is connected to the second articulated arm portion 27; more specifically, the second functional element 92 is kinematically coupled to the machine axis R of the second articulated arm portion 27. n The driven machine axis R n It is output directly or preferably via a connecting device to the second functional element 92.

[0042] The coupling device is designed to connect the machine axis R n The predetermined motion is converted into the composite motion of the second functional element 92. In the exemplary embodiment shown, the predetermined motion is a rotational motion or a turning motion, and the composite motion is a linear motion or a sliding motion, wherein the first functional element 91 forms a guide 10 for the second functional element 92 along its direction of motion.

[0043] The first functional element 91 includes a material chamber 910, which may be filled, for example, with a fluid material to perform a predetermined assembly task. The material chamber 910 has an inlet 911 and an outlet 912 for the material. In the illustrated exemplary embodiment, the material chamber 910 is connected to a material source for the material being used via a pneumatically switchable inlet valve VE. The outlet 912 includes a corresponding outlet valve VA. When the inlet valve VE is open, the outlet valve VA is preferably closed to allow material to enter the material chamber 910. When the outlet valve VA is open, the inlet valve VE is preferably closed to discharge material from the material chamber 910. When the material chamber 910 needs to be cleaned, both the inlet valve VE and the outlet valve VA can be opened simultaneously.

[0044] Figure 2 , 3 Figures 4 and 5 illustrate three example applications of the functional principle, wherein tool 9 is connected to robot 1 as described, and to the machine axis R of the second functional element 92. n The predetermined motion is converted into the composite motion of the second functional element 92, wherein the corresponding machine axis R n The predetermined motion is different from the corresponding synthetic motion of the corresponding second functional element 92.

[0045] exist Figure 3In this context, tool 9 is a tool used to dispense or apply fluid materials to a workpiece in a proven manner. The fluid material can be, for example, glue, paint, powder, cleaning agent, etc., and must be applied to the workpiece at precise locations.

[0046] Tool 9 includes: a first functional element 91, as already described, which is connected to the first articulated arm portion 26 to resist movement; and a second functional element 92, which is connected to the machine axis R6 of the second articulated arm portion 27.

[0047] The first functional element 91 includes a container 910 for fluid materials. The material can be supplied in the form of a cartridge that must be introduced into the container 910. This includes automatic cartridge replacement from a connected cartridge hopper.

[0048] Container 910 can be refillable, which could mean that material must be replenished periodically or as needed, for example, manually by an operator, or it could mean that it is permanently connected to a material source and that material is automatically replenished to container 910 as needed. This is a preferred variation, depending on the type of assembly task and the amount of material consumed.

[0049] Container 910 can be connected to a material source via a conduit system and automatically replenished with material. For this purpose, container 910 includes an inlet 911 for material from the material source and an outlet 912 through which material is dispensed from container 910. Container 910 can also be connected to two or more material sources, where these materials are initial materials mixed in container 910 to form a material for an assembly task. For mixing purposes, a mixing device can be arranged in container 910, and container 910 can be heated or may have a cooling system. If container 910 is heated, the nozzle 913 through which it dispenses material is also heated to prevent the material from hardening or thickening before it is applied.

[0050] Inlet 911 and outlet 912 can be pneumatically opened and closed, for example. Preferably, inlet 911 is closed when outlet 912 is open, and outlet 912 is closed when inlet 911 is open, that is, material cannot be applied directly from the material source to the workpiece.

[0051] The first functional element 91 can form the housing of the tool 9, which in particular protects the second functional element 92 from damage and / or contamination. A guide 10 is formed on the inner peripheral wall of the first functional element 91, wherein the movable nut 13 acting on the second functional element 92 has the function of moving the second functional element 92 linearly into the container 910.

[0052] The second functional element 92 includes a discharge piston 920 that extends into and is movable within the container 910 to discharge material from the container 910 through an outlet 912. The discharge piston 920 is connected via a spindle 11 to the machine axis R of the second articulated arm portion 27. n The spindle 11 is mounted via a bearing 14, allowing it to rotate within the first functional element 91. The spindle 11 includes a free end 12 with external threads, onto which a movable nut 13 is screwed. The movable nut 13 includes a guide element 15 that mates with a guide 10 in the first functional element 91.

[0053] If the spindle 11 is then rotated by the machine axis R6 of the second articulated arm portion 27, the movable nut 13 cannot rotate with it because this is prevented by the connection between the guide 10 and the guide element 15. Instead, the movable nut 13 moves linearly along the end 12. Preferably, the movable nut 13 is fixedly connected to or integrally molded with the discharge piston 920 during casting or sintering, such that the movement of the movable nut 13 is transmitted to the discharge piston 920, i.e., the discharge piston 920 can rotate according to the machine axis R6. n The rotation direction moves the container 910 into or out of the container.

[0054] exist Figure 3 In the embodiment of tool 9 shown, the rotation axis of spindle 11, the central longitudinal axis of the second functional element 92, the rotation axis of the second hinge arm portion 27, or the machine axis R6 coincide.

[0055] Figure 4 Another tool 9' is shown. The other tool 9' is a pair of welding clamps, particularly welding clamps for resistance welding. In the case of this tool 9', the second functional element 92' forms a movable electrode arm, and the first functional element 91' forms a rigid counter electrode.

[0056] In this tool 9', the first functional element 91' is again connected to the first articulated arm portion 26, such that it participates in every movement of the first articulated arm portion 26. The second functional element 92' is coupled to the second articulated arm portion 27 and is connected to the machine axis R of the second articulated arm portion 27. n The drive converts the rotational motion of the machine axis R6 into the linear motion of the second functional element 92'. The conversion principle corresponds to... Figure 3 The principles described will not be described further.

[0057] A similar design could be used, for example, for a pair of hollow rivet punching pliers (not shown), in which a second functional element can form a drive rivet setting unit, and an anvil is formed by a first functional element.

[0058] Reference Marker

[0059] 1. Robots, articulated arm robots, industrial robots

[0060] 9,9' tools

[0061] 10. Guide components

[0062] 11. Mandrel

[0063] 12 ends

[0064] 13. Moving nut

[0065] 14 bearings

[0066] 15. Guiding elements

[0067] 91, 91' First functional element

[0068] 910 Materials Room

[0069] 911 entrance

[0070] 912 Export

[0071] 913 Nozzle

[0072] 92, 92' Second functional element

[0073] 26 First articulated arm section

[0074] 27. Second articulated arm section, robotic arm

[0075] A machine axis

[0076] B base

[0077] GAA articulated arm section

[0078] VA outlet valve

[0079] VE inlet valve

[0080] k Number of articulated arm sections

[0081] n The number of machine axes or motion axes

Claims

1. A system for performing assembly or production tasks in a proven manner, the system comprising: a. An n-axis robot (1) having a base (B) and a hinged arm (20) connected to the base (B) and capable of moving relative to the base (B) along n machine axes (R1 to R2). n The articulated arm (20) moves along the machine axis (R), and the articulated arm (20) includes a first articulated arm portion (26) and a second articulated arm portion (27), the first articulated arm portion and the second articulated arm portion being connected in a robot joint such that the first articulated arm portion and the second articulated arm portion can move around the machine axis (R). n One of them rotates; b. A robot controller for controlling the articulated arm (20) on the n machine axes (R1 to R2). n Movement on ) c. Tool (9), said tool (9) for said assembly task, having a first functional element and a second functional element, in d. The tool (9) is a pair of welding clamps, the second functional element forming a movable electrode arm, and the first functional element forming a rigid counter electrode. or e. The tool (9) is a tool for dispensing fluid material in a validated manner, the first functional element including a container (910) for containing the fluid material, and the second functional element including a discharge piston (920) extending into and movable into the container (910) to discharge material from the container (910) through an outlet (912). f. The second articulated arm portion (27) is the final articulated arm portion of the n-axis robot (1), the final articulated arm portion passing through the n machine axes (R1 to R2). n The first articulated arm portion (26) is separated from the base (B) and is the penultimate articulated arm portion of the n-axis robot (1). g. The first functional element is coupled to the first articulated arm portion (26) such that it participates in a movement that can be performed by the first articulated arm portion (26). h. The second functional element is coupled to the second articulated arm portion (27) such that it participates in movements that can be performed by the second articulated arm portion (27) relative to the first articulated arm portion (26) and the first functional element in the robot joint, in order to perform the assembly task. i. And the robot controller is designed to control the position and / or velocity of movements in the robot joints that can be performed by the second articulated arm portion (27) relative to the first articulated arm portion (26) in order to activate the movement and / or function of the second functional element in a verified manner, wherein j. The first functional element is nonmovably connected to the first hinge arm portion (26) and is nonmovable relative to the first hinge arm portion (26). k. The second functional element is connected to the machine axis (R) of the second hinged arm portion (27) via a spindle (11). n ); l. The spindle (11) is mounted by a bearing (14) so ​​that it can rotate in the first functional element, and the spindle (11) includes a free end (12) with external threads, to which a movable nut (13) is screwed; m. The movable nut (13) includes a guide element (15) that engages with a guide (10) formed on the inner peripheral wall of the first functional element, such that when the spindle (11) is driven by the machine axis (R) of the second hinge arm portion (27), n When the rotation is driven, the movable nut (13) cannot rotate with it because the rotation is prevented by the connection between the guide (10) and the guide element (15). Instead, the movable nut (13) moves linearly along the free end (12). n. The movable nut (13) acts on the second functional element to achieve the effect of linearly moving the second functional element; and o. The machine axis (R) of the second articulated arm section (27) n The rotation axis of the spindle (11) coincides with the central longitudinal axis of the second functional element.

2. The system according to claim 1, wherein, The machine axis (R) n The second articulated arm portion (27), which is capable of moving relative to the first articulated arm portion (26), is the nth machine axis of the robot (1), and n is a natural number greater than 2.

3. The system according to claim 1, wherein, The nth machine axis is the rotation axis, sliding axis, or rotational sliding axis of the second articulated arm portion (27).

4. The system according to claim 1, wherein, The tool (9) is designed to convert a predetermined system motion of the nth machine axis into a composite motion of the second functional element, wherein the composite motion is different from the predetermined motion.

5. The system according to claim 1, wherein, The first functional element and the second functional element form a threaded pair, an intermediate gear system, a slider guide, or a rigid chain.

6. The system according to claim 1, wherein, The first functional element forms a guide (10) for the second functional element, the guide linearly guiding the second functional element and / or enabling the second functional element to rotate.

7. The system according to claim 1, wherein, The second articulated arm is a robotic arm.

8. The system according to claim 1, wherein, The machine axis (R) n The second articulated arm portion (27), which is capable of moving relative to the first articulated arm portion (26), is the nth machine axis of the robot (1), and n equals 6.

9. The system according to any one of the preceding claims, wherein, The assembly tasks refer to assembly tasks within the manufacturing fields of missiles, land vehicles, and ships.

10. A method for performing assembly or production tasks in a proven manner, using the system according to claim 1.

11. The method according to claim 10, wherein, The second functional element is linearly guided by the first functional element.

12. The method according to claim 10, wherein, The robot (1) has a base and n axes of motion for a robotic arm having k articulated arm portions, and the kth articulated arm portion forms the robotic hand.

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