Micro-Assembly Robot System with Multiple ManipulatorsBased on Macro-Micro Motion Mechanism

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.