This paper proposes a microassembly system with coaxial alignment function (MSCA). The system is comprised of vision system module, micro gripper module, motion module, and laser ranging module. The image processing technique is applied in the position detection procedure. A special prism is integrated in this system to capture the two parts simultaneously. The assembly accuracy of the system can reach micrometer lever.

This paper briefly introduces the principle of sub-micro precision micro-assembly system based on the micro force detection. The linear mapping of micro force-micro displacement can be obtained, which is in agreement with the experimental data. And the probability distribution density function of the fitted mapping coefficients can be derived by the principle of maximum entropy. Furthermore, the uncertainly of k is accessed. Hence, the reliability of micro force-micro displacement mapping in the assembly process is demonstrated. The experiment result shows that the assembly precision can be accurately predicted by the fitted micro force-micro displacement mapping.

For precise assembly of miniature parts, the precise inspection for parts’ posture and real-time servo control for assembly greatly depend on the performance of visual inspection system. This paper proposed a high-resolution real-time visual inspection system of micro assembly. The CMOS image sensor and high-speed digital signal processing chip were chosen to design the image acquisition module, image processing module and image display module. High-accuracy display on the common display device was implemented with the video encoding chip and FPGA. The test results showed that the processing speed with preprocessing could reach 3.5 frames per second with 5 mega-pixel resolution, and the display accuracy after threshold processing had little loss. Micro parts assembly experiment and high accuracy Peg-in-Hole assembly experiment are done to test the performance of the proposed visual inspection system. This visual inspection system can be used for high-resolution real-time micro assembly and other real-time visual servo control.

The current developed micro-grippers are not effectively used in micro-assembly within the scale of 0.01-10mm due to some practical problems. In this paper, we present a novel integrated micro-gripping system. In this system, the vac-sorb gripper and the micro-gripper based on a linear motion stage are employed together to stably pick up miniature mechanical structures in different shapes and dimensions. The gripping force is detected in real time and used as a feedback to control the action of the system. The design of the system and the implementation of the feedback mechanism are described in details. Experiments are taken and analyzed and the results show the designed functionality of the system.

The accuracy of tool setting has a great influence on the machining accuracy of micro structures. In this paper, electric breakdown in micro gap is used for tool setting and the accuracy of this method is ±0.2μm. Experimental studies have been done to prove the feasibility of this method. Experimental results show that the breakdown voltage is about 30V when the gap between the tool and the tool setting probe is 2μm, and tool diameter has little effect on this phenomenon. With the increase of the tool wear the breakdown voltage shows ascendant trend, so this method can be used to monitor tool wear.