关节型宏微结合机器人装配位姿优选方法

doi:10.3901/JME.260165

机械工程学报 ›› 2026, Vol. 62 ›› Issue (13): 110-119.doi: 10.3901/JME.260165

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关节型宏微结合机器人装配位姿优选方法

时贝超^1,2, 王福军^1,2, 肖聚亮^1,2, 刘海涛^1,2, 田延岭³, 梁存满^1,2

1. 天津大学机械工程学院天津 300354;
2. 机构理论与装备设计教育部重点实验室天津 300354;
3. 华威大学工学院考文垂CV4 7AL英国

收稿日期:2025-06-21 修回日期:2025-12-10 发布日期:2026-08-28
作者简介:时贝超，男，1993年出生，博士，助理教授。主要研究方向为微操作机器人、微装配与微定位、柔顺机构设计与控制。E-mail：shi0802@tju.edu.cn;王福军(通信作者)，男，1981年出生，博士，教授，博士研究生导师。主要研究方向为精密智能作业机器人、精密制造装备、微纳测试与制造、动力学与控制、柔性机构。E-mail：wangfujun@tju.edu.cn
基金资助:
国家自然科学基金青年项目(52405032)、国家自然科学基金区域创新发展联合基金重点支持项目(U23A20618)、国家重点研发计划智能机器人专项(2019YFB1310900)和机器人技术与系统全国重点实验室开放基金(SKLRS-2025-KF-12)资助项目。

Assembly Posture Optimization Method for Articulated Macro-micro Robots

SHI Beichao^1,2, WANG Fujun^1,2, XIAO Juliang^1,2, LIU Haitao^1,2, TIAN Yanling³, LIANG Cunman^1,2

1. School of Mechanical Engineering, Tianjin University, Tianjin 300354;
2. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin 300354;
3. School of Engineering, University of Warwick, Coventry CV4 7AL, UK

Received:2025-06-21 Revised:2025-12-10 Published:2026-08-28

摘要/Abstract

摘要： 复杂微小器件不断向着微型化、高集成度和智能化方向发展，并由多个异质、异构、易变形和跨尺度的微小零件组装而成。近年来，关节型宏微结合机器人为实现此类微小零件米级空间上料、毫米级空间对准及微米/亚微米级精度装配提供了一种新思路。针对在由显微视觉决定的尺度狭小且环境复杂的装配空间中实现微小零件多自由度、高精度和无碰撞位姿对准难题，提出一种基于关节型宏微结合机器人巧-柔性能评价函数的装配位姿优选方法。根据关节型宏微结合机器人运动灵巧性和末端变形性能与位姿的映射关系构建巧-柔性能评价函数，并以此为优化目标建立关节型宏微结合机器人装配位姿优选模型。制定面向装配位姿优选的阈值准则，并利用智能算法实现多变量、非线性位姿寻优求解。借助具体算例和实验验证所提出的位姿优选方法的有效性，结果表明微小零件在最优装配位姿处装配时所产生的接触力幅值为0.04 N、位姿调控次数为3次，均小于其他装配位姿对应的接触力幅值和调整次数。此外，在最优装配位姿处开展的10次重复装配试验结果表明，带孔微小片状零件与轴的装配位置偏差小于3 μm。

关键词: 关节型宏微结合机器人, 精密装配, 位姿优选, 巧-柔性能评价函数

Abstract: Micro devices are continuously evolving towards miniaturization, high integration and intelligence. Micro-target devices are assembled from multiple micro-parts that are heterogeneous, anisomeric, deformable, and span different scales. In recent years, the articulated macro-micro robot (AMMR) has provided a new approach for achieving meter-scale feeding, millimeter-scale spatial alignment, and micron/sub-micron precision assembly of such micro-parts. Aiming at the problem of multi-degree-of-freedom, high-precision and collision-free pose alignment of micro parts in the narrow assembly space determined by microscopic vision and a complex environment, a dexterous-flexible performance evaluation function based assembly pose optimization method of the AMMR is proposed. Based on the mapping relationship between the motion dexterity, end deformation performance and pose, a dexterity-flexibility performance evaluation function is constructed. Using this function as the optimization objective, an assembly pose optimization model for AMMR is established. By formulating the threshold criteria and applying intelligent algorithms, the multi-variable and non-linear pose optimization solution is achieved. The effectiveness of the proposed pose optimization method is verified with the help of specific examples and experimental data. The results show that when tiny parts are assembled at the optimal assembly pose, the amplitude of the contact force generated is 0.04 N and the number of pose adjustments is 3 times, both of which are less than that corresponding to other assembly poses. In addition, the results of 10 repeat assembly experiments carried out at the optimal assembly pose show that the assembly position deviation between the micro-perforated sheet parts and the shaft is less than 3 μm.

Key words: articulated macro-micro robot, precision assembly, pose optimization, dexterity-flexibility performance evaluation function

中图分类号:

TP242

时贝超, 王福军, 肖聚亮, 刘海涛, 田延岭, 梁存满. 关节型宏微结合机器人装配位姿优选方法[J]. 机械工程学报, 2026, 62(13): 110-119.

SHI Beichao, WANG Fujun, XIAO Juliang, LIU Haitao, TIAN Yanling, LIANG Cunman. Assembly Posture Optimization Method for Articulated Macro-micro Robots[J]. Journal of Mechanical Engineering, 2026, 62(13): 110-119.

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http://www.cjmenet.com.cn/CN/Y2026/V62/I13/110

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关节型宏微结合机器人装配位姿优选方法

Assembly Posture Optimization Method for Articulated Macro-micro Robots

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