Design of Microassembly System and Research on Coarse-to-Fine Alignment Strategy in combination with Active Zooming

In this paper, a microassembly system based on 3-channles microvision system used for assembling 2 microparts named Si arm and Al shell is presented. Firstly, the structure of the system is described in detail. Then, a coarse-to-fine alignment strategy in combination with active zooming algorithm is presented. In the coarse alignment stage, alignment process is conducted with maximum field of view (FOV). In the fine alignment stage, the microscope is of maximum magnification to ensure the highest assembly accuracy. At last, the relative pose of the microparts is estimated in the assembly procedure. The experiment results show that the proposed algorithms can detect the assembly parameters online precisely.