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论文类型：会议论文

发表时间：2010-10-22

收录刊物：Scopus、CPCI-S、EI

卷号：483

页面范围：668-+

关键字：Micro-stress assembly; Automatic assembly system; Combined gripper

摘要：Since miniature parts have the characteristics of small sizes, low strength and rigidity, and they are easily to be damaged during the process of assembly, a concept for micro-stress assembly was proposed. In order to achieve micro-stress assembly, an automatic assembly system based on machine vision and force feedback was developed. Finite element method was used to analyze the influencing factors causing assembly stress. In order to handle various kinds of parts, a new type of combined gripper was developed, furthermore, the gripper integrated with force feedback and a compliant structure can detect and control the manipulating force.