微装配的微力测量方法研究进展  

Research development of micro-force measurement method in microassembly

作　　者：胡文[1] 张瑞 印波 HU Wen;ZHANG Rui;YIN Bo(School of Digital Media,Shenzhen Institute of Information Technology,Shenzhen 518172,China;School of Mechatronics Engineering,Shenzhen Institute of Information Technology,Shenzhen 518172,China)

机构地区：[1]深圳信息职业技术学院数字媒体学院,广东深圳518172 [2]深圳信息职业技术学院机电工程学院,广东深圳518172

出　　处：《传感器与微系统》2020年第4期1-4,12,共5页Transducer and Microsystem Technologies

基　　金：深圳市科技计划资助项目(JCYJ20170306095702695)。

摘　　要：在微装配过程中,微夹爪对微构件施加的夹持力过大会导致微夹爪和微构件损坏,而夹持力过小会导致抓取失败,因此有必要实时地测量夹持力。综述了微装配领域的微力测量方法,分析比较了接触式和非接触式两类微力测量方法的实现原理、测量参数、优缺点等。重点阐述了视觉微力测量方法,它借助于微装配平台现有的显微镜和相机对微夹爪和微构件进行成像并通过图像处理和分析来计算微夹爪的受力情况,而无需额外的仪器设备,既廉价又无干涉作用,最后对其未来发展方向作出了展望。In the process of microassembly,excessive force may damage both the microgripper and the micropart,while deficient force may cause grasp failure. Therefore,it is necessary to measure the force applied to the micropart. Micro-force measurement methods in the research field of microassembly are reviewed. These microforce measurement methods are divided into two classes: contact ones and non-contact. Implement principle,measurement parameters,advantage and disadvantage of contact and non-contact methods are summarized. Visionbased micro-force measurement method,one of the most applicable values among these methods,is introduced in details. Using the microscope and camera already equipped in the microassembly workstation,vision-based microforce measurement method takes scene images of the microgripper and the micropart,implements image processing and analysis,and estimates applied force. This method requires no extra equipment and has no interference with the present microassembly workstation. And,future development direction is prospected.

关 键 词：微装配 接触式微力测量 非接触式微力测量 显微视觉 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术] TP212[自动化与计算机技术—计算机科学与技术]