Force-Sensing Micro-Assembly Platform for Tremor-Stable Clamping
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Solution Overview
Problem
Current micro-assembly technologies face challenges with large gripper sizes, difficulty in integrating force sensors, gravity influence on precision, and complex system designs requiring visual servo technologies, leading to inefficiencies and low precision in force detection and assembly processes.
Innovation Solution
A flexible assembly system comprising an industrial personal computer, data collection card, motion control card, six-degree-of-freedom assembly platform, visual platforms, and force sensors, which includes a two-degree-of-freedom adjustment device with clamping mechanisms and force sensors to actively adjust and stabilize parts during assembly, enabling precise force detection and improved assembly efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a traditional micro-gripper is used for assembly, then the structure is simple, but the gripper size is large and force sensors cannot be integrated
Solution Approach 1:
The force sensor is nested within the gripper structure, with the sensing element integrated into the gripper fingers or backbone. This allows the sensor to be contained within the compact gripper volume while still measuring forces during assembly operations, resolving the contradiction between simple structure and force detection capability
Solution Approach 2:
The gripper is designed to serve multiple functions: mechanical grasping, force application, and force sensing. By integrating the force sensor directly into the gripper structure, the device becomes a multi-functional tool that can both manipulate parts and detect forces, eliminating the need for separate sensing equipment
2Extent of automation
If visual servo technologies are adopted for micro-assembly, then automation is improved, but system complexity increases and high precision visual sensors are required
Solution Approach 1:
The system replaces complex visual servo control with a simpler force-based control mechanism. By using force sensors to detect contact forces and guide assembly operations, the system achieves automation without requiring high-precision visual sensors or complex image processing algorithms, thus reducing overall system complexity while maintaining automation
3Adaptability or versatility
If operator experience-based adjustment is used for tremors, then flexibility is maintained, but assembly time increases and productivity decreases
Solution Approach 1:
The force sensor provides real-time feedback on contact forces during assembly. This feedback is used to automatically detect and compensate for tremors in the robotic manipulator, allowing the system to maintain flexibility in handling various assembly conditions while significantly reducing the time required for adjustments compared to operator-based methods
4Device complexity
If the assembly robot waits for parts to stabilize autonomously, then intervention complexity is reduced, but assembly time increases
Solution Approach 1:
The force sensor detects and compensates for tremors proactively during the assembly process, rather than waiting for parts to stabilize autonomously. This preliminary action of active stabilization reduces assembly time while maintaining simple control operations, as the system continuously monitors and adjusts for vibrations before they affect assembly precision
Data Source
AI summary
A flexible assembly system includes an industrial personal computer, a data collection card, a motion control card, a six-degree-of-freedom assembly platform, a first visual platform, a second visual platform and a supporting platform. The six-degree-of-freedom assembly platform includes a four-degree-of-freedom motion platform and a two-degree-of-freedom adjustment device, the two-degree-of-freedom adjustment device includes a two-degree-of-freedom motion platform and a clamping mechanism, and the clamping mechanism includes an outer frame, a flexible wrist rotatably connected in the outer frame, two clamping sheets mounted on the flexible wrist, two driving parts corresponding to the two clamping sheets, two first force sensors provided on the outer frame and two second force sensors provided on the flexible wrist; a first image collection apparatus is mounted on the first visual platform, and a second image collection apparatus is mounted on the second visual platform. A flexible assembly method is also disclosed.