Qualification of standard industrial robots for micro-assembly

摘要

Precision micro-assembly requires special tools, in order to fulfil the high demands in accuracy and control of the assembly process. A precise gripper tool, the micro-positioning system (MPS) has been developed, that makes micro-assembly with industrial robots possible. The whole assembly process can be surveyed and controlled with a vision system. A compact micromanipulator based on piezo-actuators makes visual servoing with a high accuracy possible. An integrated 3D-accelerometer system senses vibrations of the handling device and disturbances of the environment, that can be dynamically compensated by the piezo-actuators. The MPS can be adapted to different assembly applications due to changeable grippers. The combination of a standard industrial robot workspace and the high precision of the MPS results in cost advantages comparing to precision handling devices. A sample application, the assembly of radio-controlled wrist-watches, shows the performance potential of the MPS.