微装配机器人系统

Micro-assembly Robot System

研制一种具备多操作手协调工作的微装配机器人系统,该系统包括两个4自由度的主微操作手和一个3自由度的辅助微操作手,并采用双光路正交显微视觉作为获取机器人和微对象的位姿与环境信息的主要手段。为适应不同形状和材质微目标的操作需要,分别设计真空和压电陶瓷两类微夹钳,以微夹钳工作原理分析为基础,给出微夹钳的控制依据。就显微图像获取和视觉伺服等问题进行研究,包括基于维纳滤波的模糊图像逆滤波器复原,基于图像分析的显微镜自动调焦,以及基于距离和角度图像特征的显微视觉伺服控制等。以人机交互的半自主方式控制机器人进行微装配作业。装配结果表明,系统工作可靠,能够完成具有复杂工艺要求的微装配任务,目前微零件最小装配精度可达30μm。

A micro-assembly robot system with multi-manipulator cooperation is developed. The system includes two master micromanipulators with 4 DOFs and one slave micromanipulator with 3 DOFs and adopts double optical path orthogonal micro-vision as the main means to obtain the poses and environmental information of robot and micro-objects. To adapt to the operation requirements of micro-objects of different shapes and materials, the vacuum micro-gripper and piezoelectric ceramic micro-gripper are designed respectively, and their control methods are given on the basis of analyzing the working principle of micro-grippers. Problems such as micro-image acquisition and visual servo are studied, including wiener inverse filter restoration of blurred image, auto focus of microscope based on image analysis, and micro-vision servo control based on the image features of distance and angle. A semi-autonomous control scheme with human-robot interaction is utilized in the micro assembly operation. Assembly results demonstrate that the system works reliably and can accomplish micro assembly task that has complicated technological requirements. Presently the smallest assembly accuracy of micro-parts can attain 30 μm.