ITRI-A是1986年开发的一种小型垂直关节机器人。压缩机阀板组件是其在生产线上的成功应用之一。本文讨论了实施过程，包括技术评估、系统规划、外围设计和改进经验。装配系统由一个带有多指末端执行器的机器人臂和一个处理外围设备之间通信的机器人控制器组成。随着运动路径和加速度的改善，循环时间缩短，系统利润增加。该系统可以自动运行，并发出异常情况的报警信号，因此一名操作员可以同时处理多个单元。

ITRI-A WAS A SMALL VERTICAL ARTICULATED ROBOT DEVELOPED IN 1986. THE COMPRESSOR VALVE-PLATE ASSEMBLY IS ONE OF ITS SUCCESSFUL APPLICATIONS IN THE PRODUCTION LINE. THIS PAPER DISCUSSES THE PROCESS OF IMPLEMENTATION, INCLUDING TECHNICAL EVALUATION, SYSTEM PLANNING, PERIPHERAL DESIGN, AND THE EXPERIENCES OF IMPROVEMENT. THE ASSEMBLY SYSTEM CONSISTS OF A ROBOT ARM WITH A MULTI-FINGERS END EFFECTOR, AND A ROBOT CONTROLLER HANDLING THE COMMUNICATION BETWEEN PERIPHERALS. WITH IMPROVED MOTION PATHS AND ACCELERATION, THE CYCLE TIME IS REDUCED AND SYSTEM PROFIT INCREASED. THE SYSTEM CAN OPERATE AUTOMATICALLY WITH ALARM SIGNALS FOR ABNORMAL SITUATION, SO ONE OPERATOR CAN HANDLE SEVERAL CELLS IN THE MEANTIME.