锥壳靶自动精密微装配系统

doi:10.13973/j.cnki.robot.2016.0563

摘要
图/表
参考文献
相关文章 (15)

全文: PDF (855 KB) HTML ( ) 输出: BibTeX \| EndNote (RIS)
引用本文:
栾飞, 蒋柏斌, 荣伟彬, 孙立宁. 锥壳靶自动精密微装配系统[J]. 机器人, 2016, 38(5): 563-568.DOI: 10.13973/j.cnki.robot.2016.0563. LUAN Fei, JIANG Bobin, RONG Weibin, SUN Lining. Cone-shell Target Automatic Precision Micro-assembly System. ROBOT, 2016, 38(5): 563-568. DOI: 10.13973/j.cnki.robot.2016.0563.

摘要为解决多尺度、多形状的锥壳靶精密装配问题，研制了一套具有微米级定位精度的多操作手精密微装配系统．该系统具有3个多自由度操作手，能够针对不同形状、不同材质的零件进行拾取、装配．在显微视觉景深较小及装配空间光照有限的条件下，采用提升小波算法获得清晰的零件与操作手图像并进行相应图像的识别检测，实现了位置的闭环控制．通过3路显微视觉实现靶零件的在线测量，直线测量不确定度小于2μm，角度测量不确定度小于0.01°．装配实验结果表明，该系统能够保证微球中心与锥轴线的偏差小于5μm，微球中心与柱腔中心偏差小于10μm，与手动装配相比大大提高了装配精度．

	服务

	把本文推荐给朋友
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS
	作者相关文章
	栾飞
	蒋柏斌
	荣伟彬
	孙立宁

关键词 ：微装配, 显微视觉, 位姿检测, 锥壳靶, 多自由度操作手, 微米级, 精度

Abstract：To achieve the multi-dimension, multi-shape precision component assembly of cone-shell target, a multi-manipulator precise micro-assembly system is established with micrometer-scale positioning accuracy. The system consists of 3 multi-DOF manipulators which could grip, and assembly micro-parts with different shapes and materials. Because of the small depth of micro-vision and the limited light intensity in assembly space, the lifting wavelet transform is adopted in position closed-loop control to obtain clear images of target parts and manipulators, and then to detect them for recognition. Three micro-vision systems are applied to achieve the online measurement of the target. Measurement uncertainty of straightness is less than 2μm and measurement uncertainty of angle is less than 0.01°. Assembly experiments validated that the system can ensure that the deviation between the microspheres center and the cone axis is less than 5μm, and the deviation between the microspheres center and the cylindrical cavity center is less than 10μm. That is a great improvement in assembly accuracy comparing with the manual assembly.

Key words： micro assembly micro vision pose detection cone-shell target multi-DOF manipulator micrometer-scale precision

收稿日期: 2016-01-15 录用日期: 2016-07-04

TP242

基金资助:国家自然科学基金委员会创新研究群体科学基金（51521003）；机器人技术与系统国家重点实验室自主研究课题（SKLRS201602C）

通讯作者: 荣伟彬，rwb@hit.edu.cn E-mail: rwb@hit.edu.cn

作者简介: 栾飞（1985-），男，博士生．研究领域：显微视觉，微操作与微装配．
蒋柏斌（1980-），男，硕士，副研究员．研究领域：激光聚变靶制备技术．
荣伟彬（1972-），男，博士，教授．研究领域：微纳操作，微驱动技术，微装配设备．

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2016.0563 或 https://robot.sia.cn/CN/Y2016/V38/I5/563

[1] 杜凯,张林,周兰,等.直接驱动快点火Au-CD锥壳靶的研制[J].原子能科学技术,2008,42(11):1039-1040.Du K, Zhang L, Zhou L, et al. Preparation of Au-CD cone-shell targets for direct-drive fast ignition experiments[J]. Atomic Energy Science and Technology, 2008, 42(11):1039-1040.
[2] 田超,单连强,周维民,等.针对神光Ⅱ升级装置的直接驱动快点火集成实验靶的初步设计[J].物理学报,2014,63(12):203-209.Tian C, Shan L Q, Zhou W M, et al. Preliminary target design for integrated direct-drive fast ignition experiments on Shenguang-Ⅱ upgrade facility[J]. Acta Physica Sinica, 2014, 63(12):203-209.
[3] 李海鹏,邢登鹏,张正涛,等.宏微结合的多机械手微装配机器人系统[J].机器人,2015,37(1):35-42.Li H P, Xing D P, Zhang Z T, et al. Micro-assembly robot system with multiple manipulators based on macro-micro motion mechanism[J]. Robot, 2015, 37(1):35-42.
[4] Liebman J, Azevedo S, Williams W, et al. Correcting raw diagnostic data for oscilloscope recording system distortions at the National Ignition Facility[J]. Fusion Engineering and Design, 2012, 87(12):2125-2130.

[5] Norimatsu T, Nagai K, Takeda T, et al. Update for the drag force on an injected pellet and target fabrication for inertial fusion[J]. Fusion Science and Technology, 2003, 43(3):339-345.
[6] 吴文荣,余大海,裘祖荣,等.毫米器件半自动微装配系统研制[J].传感器与微系统,2013,32(1):83-90.Wu W R, Yu D H, Qiu Z R, et al. Development of semi-automatic micro-assembly system for millimeter device[J]. Transducer and Microsystem Technologies, 2013, 32(1):83-90.
[7] Marsacq D, Dufour B, Blondel B, et al. High-performance aromatic polyimides for inertial confinement fusion experiments[J]. Polymer International, 2000, 49(9):1021-1023.

[8] Kim G W, Lee B H, Kim M S. Uncalibrated visual servoing technique using large residual[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 2003:3315-3320.
[9] 郏东耀,陈曦.基于小波神经网络的自动调焦方法研究[J].电子测量与仪器学报,2012,26(5):398-403.Jia D Y, Chen X. Research of automatic focus method on wavelet neural network[J]. Journal of Electronic Measurement and Instrument, 2012, 26(5):398-403.
[10] Hao M, Deuflhard P, Sun Z Q, et al. Model-free uncelebrated visual servoing using recursive least squares[J]. Journal of Computers, 2008, 3(11):42-50.
[11] Cupertino F, Giordano V, Mininno E, et al. A neural visual servoing in uncalibrated environments for robotic manipulators[C]//IEEE International Conference on Systems, Man and Cybernetics. Piscataway, USA:IEEE, 2004:5362-5367.
[12] 张娟,徐德,张正涛,等.基于多路显微视觉的微零件自动对准策略[J].机器人,2014,36(1):69-75.Zhang J, Xu D, Zhang Z T, et al. An automatic alignment strategy of micro parts based on microscope vision systems[J]. Robot, 2014, 36(1):69-75.
[13] Ren L, Wang L D, Mills J K, et al. 3-D automatic micro-assembly by vision-based control[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA:IEEE, 2007:297-298.