具备多操作手协调的微装配机器人系统  

A microassembly robot system with multi-manipulator cooperation

作　　者：吕遐东[1] 黄心汉[1] 蔡建华[1] 

机构地区：[1]华中科技大学控制科学与工程系,湖北武汉430074

出　　处：《华中科技大学学报（自然科学版）》2006年第11期70-73,共4页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(60275013);国家高技术研究发展计划资助项目(2005AA844120)

摘　　要：针对微零件装配工艺需要,研制了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2个四自由度的主微操作手和1个三自由度的辅助微操作手,三手各司其能,相互配合完成微装配作业.采用双光路正交立体显微视觉完成微装配过程的监测以及操作手和装配对象空间位置与姿态信息的获取.根据微零件形状、大小和材质的差异,研制了真空吸附式和压电双晶片式微夹钳完成装配对象的夹取与放置操作.采用人机交互的半自主方式控制机械手进行微装配作业.微装配实验证明系统工作可靠有效,目前微零件最小装配精度可达30μm.According to the requirements of microassembly technics, a microassembly robot system with multi-manipulator cooperation is developed, which consists of two master micromanipulators with 4 DOF and one slave micromanipulator with 3 DOF. These three manipulators with different functions could fulfill an entire microassembly task cooperatively. Stereo microscopic vision framework with perpendicular views observes the assembly process and locates manipulators and micro parts in image space. On the basis of different parts/ shapes, sizes and materials, the vacuum microgripper and piezoelectric tweezers were developed to handle micro parts. A semi-autonomous control scheme with human-robot interaction was utilized in microassembly operations. Experimental results demonstrate that the system can reliably accomplish micro parts assembly with the smallest assembly accuracy 30μm.

关 键 词：微装配机器人 微操作手 显微视觉伺服 微夹钳 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]