The Research Of SLM Visual Micro Clamping System In Automatic Wire Traction

The micromanipulator is the product of the combination of micromanipulation technology and robot technology, and it’s also an effective tool to assist operators in the precise operation of the micro space. Micro visual positioning is one of the control methods for micromanipulator, which is of great significance for improving speed, ensuring precision and realizing automatic micromanipulation.Microgripper is the terminal actuator of micromanipulating robot system, the microgripper with reasonable structure and perfect function is the basis of realizing micromanipulations. The microgripper as a typical micro actuator has prospective application in micro-mechanical parts processing, assembly, biomedical engineering, optics and other fields. This paper intends to design a set of SLM visual micro clamping system for automatic wire traction. The operation target is a rotor coil with 3mm outer diameter and 50~70μm coil wire, the rotor coil has three pads and three corresponding wires. The task of the micro clamping system is to draw the wires to the corresponding pads. The main contents of each chapter are as follows:The first chapter summarizes the status and function of the characteristics of microgripper at home and abroad, and the background of the research is also described.In the second chapter, the micro gripper system of the SLM vision guided rotor coil is designed. The system mainly includes the multi degree of freedom mobile platform, control system, stereo Light microscope and microgripper.In the third chapter, an electromagnetic actuation micro gripper is designed based on the principle of electromagnetic actuation, and the electromagnetic force of electromagnetic coil is estimated. Then, the stress simulation of the microgripper clip is carried out with the ANSYS software, and the simulation results are analyzed.In the fourth chapter, two kinds of microgrippers are designed, which are motor drive type and pneumatic type. The structure of the needle is designed respectively. Finally, two kinds of microgrippers are presented.In the fifth chapter, the automatic delivery and clamping fixed system in SLM vision micro clamping system were designed. Then the operating proc edures of the automatic delivery system were written. Finally, the physical figure of automatic delivery and clamping fixed system are presented.Chapter 6 Firstly, the microgripper clamping life experiments were carried out, and then the positioning precision of the three dimensional mobile platform experiments were carried out, finally the microgripper automatically wire traction experiments were carried out under the SLM visual guide system. Clamping life experiments show the clamping needle wear in good condition; the platform positioning precision experiments show each axis movement error in the range of 8μm, meet the needs of the clamping; the last experiments for automatic wire traction show the reliability of the SLM vision micro clamping system.