复杂微器件柔性装配机器人控制系统设计与实现  

Design and Implementation of Control System for Complex Micro-device Flexible Assembly Robot

作　　者：吴文荣[1] 胡益玮 杨毅[1] WU Wenrong;HU Yiwei;YANG Yi(China Academy of Engineering Physics Laser Fusion Research Center,Mianyang Sichuan 621900,China)

机构地区：[1]中国工程物理研究院激光聚变研究中心,四川绵阳621900

出　　处：《机械设计与研究》2024年第2期79-84,共6页Machine Design And Research

基　　金：国家重点研发计划资助项目(2019YFB1310900)。

摘　　要：针对复杂微器件高精度柔性化装配机器人系统实现面临的装配过程控制柔性化自动装配需求,开展了柔性控制策略与软件架构的研究。按照不同的功能将装配机器人进行系统性划分与模块化处理,便于控制软件编写;针对适应不同微器件的柔性化装配,将装配过程进行动作分解并参数化,通过自动读取工艺文件和工位库信息,生成控制文件,基于控制文件实现自动装配。采用分层化、模块化的思想设计了人机交互自动控制软件,通过建立相关的模块框架类,提高了程序的复用性,最后基于动态链接库与C++语言在编译平台上完成了微器件自动装配控制软件开发。装配实验结果表明,本系统能实现多种典型复杂微器件的高精度柔性化装配,自动装配过程无需人工再次干预,装配精度满足要求。Aiming at the demand for complex micro-device high-precision flexible assembly robot system in flexible automatic assembly,the research on flexible control strategy and software architecture is carried out.According to different functions,the assembly robot is systematically divided and modularized to facilitate the writing of the control software;for the flexible assembly of different micro devices,the assembly process is decomposed and parameterized,and the process file and station are automatically read.The human-computer interaction automatic control software is designed with the idea of layering and modularization,and the reusability of the program is improved by establishing related module framework classes.Finally,the automatic assembly control software is developed based on the dynamic link library and C++language.The assembly experiment results show that the system can realize high-precision flexible assembly of many typical complex micro-devices,the automatic assembly process does not need manual intervention again,and the assembly accuracy meets the requirements.

关 键 词：微装配系统 自动装配 控制策略 软件设计 人机交互 

分 类 号：TH165[机械工程—机械制造及自动化]