磁悬浮微装配系统理论模型及实现技术

针对现有微装配系统存在的问题，给出了一种新的理论模型；将微产品装配离散化，便于建立标准化、模块化的实用微装配系统．该模型为灵巧加工及CIMS微系统打下了基础．利用磁悬浮平台代替幸臣／细运动平台传送装配子单元；同时，也利用它作为微装配平台，在一个运动平台实现了瘫臣／细运动；没有导线与运动平台相连。实现了平台的长距离运动．巧妙地利用平台运动实现线激光对微装配环境的扫描，获取微装配环境的三维信息．将全局／局部视觉系统分离，增加了操作空间．采用两种模型对磁悬浮系统进行控制，满足了瘫臣／细运动精度．采用该理论模型可以简化系统的结构，提高装配效率．

Theoretical Model of Maglev Micro Assembly System and Its Realization Technology

A theoretical model is presented which adopts maglev system to decompound complex problems in micro assembly and makes the system simple. This theoretical model is also convenient to constitute a standardized, modularized and practicable micro assembly system, and, furthermore, establish foundation of agile manufacture and CIMS microsystem. In the theoretical model, maglev platform is used to replace coarse-fine platform to transfer micro assembly subsystem and also used to assemble micropart, connect the platform without wire to realize a long distance movement. Line laser system scan micro assembly circumstance in the process of magiev platform movement and 3D data of microassembly is acquired. Global-local vision system are separated to widen operation space. In maglev system control, two types of dynamics medel are used to satisfy the precision of coarse-fine movement. The theoretical model can reduce assembly cost of microparts and improve assembly efficiency.