Precision Assembly System Based on Position-Orientation Decoupling Design

Automatic precision assembly, as an alternative to manually assembly, is plays an important role in small complex device fabrication. For irregular shape components assembly, it is difficult to realize both positon and orientation adjustment. In this paper, an automatic system to assembly pendulous component to base is designed and developed. The design strategy is reassembling the human's left and right hand. The pendulous component is adsorbed by the adsorption head which is driven by an X-Y-Z linear stage. The base is screw mounted on the feeding platform, and the orientation is adjusted by an X-Y-Z rotary stage. The two mechanisms collaborated to conduct the threading and flip actions, after that, two grippers hold the pendulous fiber and move in opposite direction to apply tension force. In the measurement process, the position - orientation decoupling also brings the benefit of change the measurement direction from parallel to the perpendicular surface of the camera, which make the system compacted. The decoupling of the position and orientation adjustment made the control and calibration of the assembly simplified as well as promotes the assembly accuracy.