Cone-shell Target Automatic Precision Micro-assembly System
LUAN Fei1, JIANG Bobin2, RONG Weibin1, SUN Lining1
1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China;
2. Laser Fusion Research Center, Chinese Academy of Engineering Physics, Mianyang 621900, China
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.
[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.