针对现有微装配系统存在的问题,给出了一种新的理论模型;将微产品装配离散化,便于建立标准化、模块化的实用微装配系统.该模型为灵巧加工及CIMS微系统打下了基础.利用磁悬浮平台代替粗/细运动平台传送装配子单元;同时,也利用它作为微装配平台,在一个运动平台实现了粗/细运动;没有导线与运动平台相连,实现了平台的长距离运动.巧妙地利用平台运动实现线激光对微装配环境的扫描,获取微装配环境的三维信息.将全局/局部视觉系统分离,增加了操作空间.采用两种模型对磁悬浮系统进行控制,满足了粗/细运动精度.采用该理论模型可以简化系统的结构,提高装配效率.A theoretical model is presented which adopts maglev system to decompound complex problems in micro assembly and makes the system simple. This theoretical model is also convenient to constitute a standardized, modularized and practicable micro assembly system, and, furthermore, establish foundation of agile manufacture and CIMS microsystem. In the theoretical model, maglev platform is used to replace coarse-fine platform to transfer micro assembly subsystem and also used to assemble micropart, connect the platform without wire to realize a long distance movement. Line laser system scan micro assembly circumstance in the process of maglev platform movement and 3D data of microassembly is acquired. Global-local vision system are separated to widen operation space. In maglev system control, two types of dynamics model are used to satisfy the precision of coarse-fine movement. The theoretical model can reduce assembly cost of microparts and improve assembly efficiency.国家自然科学基金资助项目(50675184)
