Image Servomechanism Design and Control for Micro-assembly System

• Main Authors: Wen-Yang Chang, 張文陽
• Other Authors: Ren-Jung Chang
• Format: Others
• Language: zh-TW
• Published: 2001
• Online Access: http://ndltd.ncl.edu.tw/handle/18751256365189951111

碩士 === 國立成功大學 === 機械工程學系 === 89 === ABSTRACT In previous research, a micro-compliant gripper has been realized in the Mechantroptic Laboratory. In the present research, a micro assembly system with micro-compliant gripper actuated by piezo-actuator, and equipped with gripper-stage, object-stage and image-stage is developed. This thesis starts from system functional design, manufacturing to system realization. Then each subsystem is identified. After parameter estimation, the theoretical analysis of micro assembly process is undertaken. Finally, a micro gripper to perform peg-in-hold operation is tested. The cylindrical object which is 80μm diameter by 2mm height is placed in a 100μm tube. The assembly process is completed by employing teleoperation, digital control, and image servo-control.