XIN Ming-zhe1，LUO Yi1，2，CHEN Yong1，WANG Xiao-dong1，2
（1. Key Laboratory for Micro/Nano Technology and System of Liaoning Province，Dalian University of Technology，Dalian 116024，China； 2.Key Laboratory for Precision and Non-traditional Machining Technology of Ministry ofEducation，Dalian University of Technology，Dalian 116024，China）
Abstract：In order to solve the problem of precise assembly of miniature parts with elastic structures，the precision measurement basedon the machine vision，the high resolution non-contact laser displacement measurement and other technologies were applied to theautomated precise assembly system. The fixture used for gripping the miniature parts was designed for carrying out the operations of pickup，move and placement. According to the position and orientation error measured by the vision system between the miniature part and its
target location，the miniature part was adjusted in the horizontal plane. The precise contact control method in assembly of miniature partswith elastic structures was put forward. Non-contact laser displacement sensor was used to measure the micro displacement caused by thecontact deformation of the flexible structures. By integration of the mask template into the manipulator arm，the automatic calibration ofthe assembly system was realized. The developed assembly system was briefly introduced，and the assembly experiment was done. The
experiment results show that，both of the parallelism and coaxial errors of the miniature parts assembled are less than 10 μm，and thecontact position control error during assembly of the flexible structures are between 0.6 μm ~ 0.8 μm. The assembly accuracy can meet the requirements.
Key words：miniature elastic parts；precise assembly；machine vision；contact position control；assembly system calibration