摘要
介绍用于MEMS自动微装配的机器人系统的构成,讨论组成该系统的若干关键技术,包括宏/微精密定位技术、显微视觉系统、微夹持器的设计、系统的标定以及装配策略．集成各单元技术,以外径＜2 mm的微行星齿轮减速器为示范装配对象,研制能够完成微装配任务的微装配机器人．融合显微视觉和力信息,采用相应的装配策略,在2．5 min内,实现难度最大的3个行星齿轮的自动装配．
The structure of the robot system for MEMS automated assembly is presented. Key technologies that comprise the assembly system are discussed, including the technologies of coarse-to-fine positioning, micro-vision system, the design of micromanipulator, system calibration and tasks planning. Integrated with the key technologies, a micromanipulation system was developed to complete the automated assembly of the miniatur- ized planetary reducer with an outer diameter of 2 mm. By fusing the micro-visual and micro-force feedback data and applying special assembly strategy, the automated assembly of three planetary gears within 2. 5 minutes is validated by experiment.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2006年第7期1013-1016,共4页
Journal of Harbin Institute of Technology
基金
国家高技术研究发展计划资助项目(2002AA404450).
