Abstract
A flexible experimental system developed for efficient and stable complex microassembly is presented. The system consists of a set of modules that can adapt their shape and function to various assembly tasks. Due to the basic limitations of microscopic vision, a wavelet-based focus measure to obtain both high precision and robust autofocusing, a control scheme with a modified Smith predicator to decrease the inherent time delay of vision systems, and microscopic vision/force integration to control the assembly tasks are proposed. A smart 3-D PVDF (Polyvinylidence Fluoride) force sensor is employed to sense the interactive force. Analysis and microassembly of three planetary gears demonstrate that this system has high flexibility.
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