可重构12自由度微装配技术及其实现

Reconfigurable 12-DOF Micro-Assembly Technology and Its Realization

研究可重构微装配技术及功能构成.以精密微小型机械系统为装配对象,提出了可重构12自由度微装配技术和实现方法,具体包括6自由度宏动机器人、6自由度精密微动工作台、集成微力检测与反馈的组合式微夹持器和位姿检测装置等可重构模块.研究并开发出可重构12自由度微装配系统,根据系统所测得的位姿数据信息和夹持数据信息成功实现了微小型轴和齿轮孔的装配.可重构12自由度微装配技术为实现精密微小型机械系统的装配提供了一种新的思路和方法.

Investigates the reconfigurable microassembly technology and functional configuration. Taking precise microminiature mechanical systems as assembly objects, the reconfigurable 12 degree of freedom （DOF） microassembly technology and realization method are systematically proposed, including modules such as 6-DOF macro-robot, 6-DOF precise micromotion worktable, micro gripper integrated micro detection and feedback, and micro pose detection device, and so on. Corresponding microassembly system is developed, and the assembly of micro axis and gear is successfully realized by pose and gripping information measured. The reconfigurable 12-DOF microassembly technology provides a new thought and method for assembling precise microminiature mechanical system.