微装配机器人:关键技术、发展与应用  

Microassembly robot:key technology,development,and applications

作　　者：黄心汉[1] HUANG Xinhan(School of Artificial Intelligence and Automation,Huanzhong University of Science and Technology,Wuhan 430074,China)

机构地区：[1]华中科技大学人工智能与自动化学院,湖北武汉430074

出　　处：《智能系统学报》2020年第3期413-424,共12页CAAI Transactions on Intelligent Systems

基　　金：国家自然科学基金项目(60275013,60873032).

摘　　要：微装配机器人是机器人研究和应用领域的一个重要方向和热点,有重要理论意义和应用前景。本文对微装配机器人的关键技术进行了详细介绍,包括微操作系统的基本概念、微装配机器人的工作原理、尺度效应、多尺度交叉、微夹持器技术、显微视觉与显微视觉伺服等。对国内外微装配机器人研究和发展现状进行了综述,最后对微装配机器人的应用范围和发展前景进行了展望。Research on microassembly robot is an important field in robotic research;the research has important theoretical significance and numerous applications prospects.In this study,key technological aspects of microassembly robot,such as the basic concept of micro-operating system,working principle of microassembly robot,scale effect,multi-scale crossover,micro-gripper technology,microscopic vision,and micro-vision servo,are presented and analyzed in detail.Furthermore,the research and development of microassembly robot at home and abroad are discussed and reviewed.Finally,the application scope and developmental prospects of microassembly robots are examined.

关 键 词：微装配机器人 微机电系统 尺度效应 多尺度交叉 显微视觉 视觉伺服 图像雅可比矩阵 微夹持器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]