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论文类型：期刊论文

发表时间：2022-06-29

发表刊物：光学精密工程

所属单位：机械工程学院

期号：4

页面范围：819-824

ISSN号：1004-924X

摘要：The control tactics and the relevant software architectures for a microassembly were studied and the requirement, main process and the human-robot interaction in the microassembly were analyzed in detail. A microassembly workstation based on the machine vision was constructed and a look-then-move control pattern for the micromanipulation was proposed. Then, A three-layered control architecture consisting of a task layer, a strategy layer and a behavior layer was established. In order to improve reusability, the relation between core classes and associations was analyzed in software architectures. Finally, the classes in the task layer and strategy layer were mainly constructed with an aggregation mode to finish the software for microassembly control. The assembly experiments of the microsystem composed of six microparts without special surface markers were carried out with the microassembly workstation. Several critical technical indexes of the assembled microsystem were measured and analyzed with a tool microscope. The experimental results show that the average values of coaxiality errors with the automatic microassembly are close to the results with the full manual microassembly, but the average values of symmetric errors are lower than that with the full manual microassembly and the uncertainty with the automatic assembly is better than that of the traditional one. The efficiency, repeatability, reliability and the reusability of microassembly have been improved with the control tactics based on the machine vision and the software based on three-layered control architectures.

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