Abstract
To assemble easily damaged micro-parts safely in interference fit way, the assembly process is designed and the interaction force in assembly process is analyzed. The pose of micro-parts is aligned based on calibration of three microscopic vision systems from different directions. In addition, a control strategy based on feedback of vision and force is proposed to assemble safely. In the case of two micro-parts just contact, position of micro-part is adjusted based on force information to compensate pose alignment error and keep force in safe range. When micro-part is deformed as increased contact force, position of micro-part is adjusted based on force in the interference fit process and deformation of micro-part. Experimental results demonstrate the effectiveness of proposed methods.
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