描述了一种用于对执行装配操作的机器人进行离线编程的系统，其中外围设备之间的交互和协调对于正确操作至关重要。自动化装配操作的复杂性要求使用多个设备来组装和紧固部件。作为英国航空航天公司持续致力于自动化装配开发的一部分，本文讨论了机器人离线编程方法的引入，该方法使用CAD数据库来构建设备零件程序。三维计算机仿真系统对物理自动装配单元中的所有可编程运动进行建模和动画制作。一旦磁带被证实，一个离线程序将结合校准方法产生。

A SYSTEM IS DESCRIBED FOR OFF-LINE PROGRAMMING A ROBOT PERFORMING ASSEMBLY OPERATIONS WHERE INTERACTION AND COORDINATION BETWEEN PERIPHERAL DEVICES IS ESSENTIAL FOR CORRECT OPERATION. THE COMPLEX NATURE OF AUTOMATED ASSEMBLY OPERATIONS REQUIRES MULTIDEVICES TO ASSEMBLE AND FASTEN COMPONENTS TOGETHER. AS PART OF BRITISH AEROSPACE'S ON- GOING COMMITMENT TO AUTOMATED ASSEMBLY DEVELOPMENT, THIS PAPER DISCUSSES THE INTRODUCTION OF A ROBOTIC OFF-LINE PROGRAMMING METHOD WHICH USES A CAD DATABASE TO CONSTRUCT DEVICE PART PROGRAMS. A 3-D COMPUTER SIMULATION SYSTEM MODELS AND ANIMATES ALL THE PROGRAMMABLE MOTIONS IN THE PHYSICAL AUTOMATED ASSEMBLY CELL. ONCE TAPE PROVED AN OFF-LINE PROGRAM IS PRODUCED INCORPORATING CALIBRATION METHODS.