Cone-shell target automatic precision micro-assembly system

To achieve the multi-dimension, multi-shape precision component assembly of cone-shell target, a multimanipulator 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 2 μm 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 5 μm, and the deviation between the microspheres center and the cylindrical cavity center is less than 10 μm. That is a great improvement in assembly accuracy comparing with the manual assembly.