中国科学院自动化研究所机构知识库

This article investigates simultaneous precision
assembly of multiple objects, which plays a significant
role in forming combined and complicated structures. Taking
circular assembly as an example, we present a general
alignment and insertion strategy, considering the difficulties
of joint alignment as well as complicated interaction. In
alignment, this article uses movable microscopic cameras
to realize a large view area required by the spatial alignment
and an optimization approach to achieve the even display
of multiple objects. In insertion, we propose a wriggling
insertion method to distinguish interaction forces, iteratively
counting according to the relative movements of adjacent
objects, and also an algorithm to plan the insertion:
the compensational motion regarding the mutual effects of
all objects and the toward-center motion based on radial
forces. Experiments are carried out to demonstrate the validation
of the proposed method.