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.
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