宏微结合的多机械手微装配机器人系统  

Micro-Assembly Robot System with Multiple Manipulators Based on Macro-Micro Motion Mechanism

作　　者：李海鹏[1] 邢登鹏[1] 张正涛[1] 徐德[1] 张大朋[1] 

机构地区：[1]中国科学院自动化研究所精密感知与控制研究中心,北京100190

出　　处：《机器人》2015年第1期35-42,共8页Robot

基　　金：国家自然科学基金资助项目(61227804;61105036)

摘　　要：为解决复杂组件装配中存在的并行操作、空间操作和多操作对象的难题,研制了一套基于显微视觉伺服的多机械手微装配机器人系统.该系统有6个机械手,每个机械手都由宏动模块、微动模块和末端夹持器组成.分别针对5种不同结构类型的零件,设计了5种异形零件夹持器.通过给镜头配置高精度的位移平台,实现了在30 mm×30 mm×30 mm的大操作空间内2μm精度的在线检测,可实现±9μm的装配精度.通过显微视觉反馈和力觉反馈相结合的策略,设计了过盈配合件的装配方法.使用该微装配机器人开展了微装配实验,实验结果表明该微装配机器人系统是可行的,基本能实现既定的装配要求.There are many difficulties in assembly process of complex components, such as the parallel operating in 3D space, multiple assembly objects, etc. In order to solve these problems, a multi-manipulator micro-assembly robot system is developed based on microscopic vision servoing technology. This robot has 6 manipulators, and every manipulator consists of macro-adjustment subassembly, micro-adjustment subassembly and grippers as end-effectors. Five kinds of grippers are developed according to the abnormal shaped parts. All microscopic cameras are equipped with high precision displacement platforms, which make the robot achieve 30 mmx30 mmx30 mm large operating space and 2 μm on-line measuring preci-sion. The robot’s assembly accuracy is ±9 μm. A new assembly method of interference fit is developed by means of the combination of micro-vision feedback and contact force feedback. The assembly experiments are well carried out on the de-veloped micro-assembly robot. The experimental results show that the proposed robot system is feasible and its performance can meet the specified assembly requirements.

关 键 词：微装配机器人 多机械手机器人 显微视觉 微夹持器 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]