宏微结合的多机械手微装配机器人系统

doi:10.13973/j.cnki.robot.2015.035

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引用本文:
李海鹏, 邢登鹏, 张正涛, 徐德, 张大朋. 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.DOI: 10.13973/j.cnki.robot.2015.035. LI Haipeng, XING Dengpeng, ZHANG Zhengtao, XU De, ZHANG Dapeng. Micro-Assembly Robot System with Multiple ManipulatorsBased on Macro-Micro Motion Mechanism. ROBOT, 2015, 37(1): 35-42. DOI: 10.13973/j.cnki.robot.2015.035.

摘要

为解决复杂组件装配中存在的并行操作、空间操作和多操作对象的难题，研制了一套基于显微视觉伺服的多机械手微装配机器人系统．该系统有6个机械手，每个机械手都由宏动模块、微动模块和末端夹持器组成．分别针对5种不同结构类型的零件，设计了5 种异形零件夹持器．通过给镜头配置高精度的位移平台，实现了在30mm× 30mm× 30mm的大操作空间内2um精度的在线检测，可实现± 9um的装配精度．通过显微视觉反馈和力觉反馈相结合的策略，设计了过盈配合件的装配方法．使用该微装配机器人开展了微装配实验，实验结果表明该微装配机器人系统是可行的，基本能实现既定的装配要求．

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关键词 ：微装配机器人, 多机械手机器人, 显微视觉, 微夹持器

Abstract：

There are many difficulties in assembly process of complex components, such as the parallel operating in 3D space, multiple assembly objects, etc. In order to solve these problems, a multi-manipulator micro-assembly robot system is developed based on microscopic vision servoing technology. This robot has 6 manipulators, and every manipulator consists of macro-adjustment subassembly, micro-adjustment subassembly and grippers as end-effectors. Five kinds of grippers are developed according to the abnormal shaped parts. All microscopic cameras are equipped with high precision displacement platforms, which make the robot achieve 30 mm× 30 mm× 30 mm large operating space and 2um on-line measuring precision. The robot's assembly accuracy is ± 9 um. A new assembly method of interference fit is developed by means of the combination of micro-vision feedback and contact force feedback. The assembly experiments are well carried out on the developed micro-assembly robot. The experimental results show that the proposed robot system is feasible and its performance can meet the specified assembly requirements.

Key words： micro-assembly robot multi-manipulator robot microscopic vision micro-gripper

收稿日期: 2014-02-17 录用日期: 2014-04-25

TP24

基金资助:

国家自然科学基金资助项目（61227804，61105036）

通讯作者: 李海鹏，haipeng.li@ia.ac.cn E-mail: haipeng.li@ia.ac.cn

作者简介: 李海鹏（1977-），男，博士，副研究员.研究领域：微装配，精密机械设计，系统优化
邢登鹏（1971-），男，博士，副研究员.研究领域：机器人，最优控制
张正涛（1981-），男，博士，副研究员.研究领域：微装配，精密视觉检测

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2015.035 或 https://robot.sia.cn/CN/Y2015/V37/I1/35

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