A Memory Module Assembly System Using Parallel Robots

In this paper, a memory module assembly system is designed, and the mechanical composition and control method of the system are introduced in detail. In order to achieve accurate motion control and force control, the assembly system uses a combination of a 6PUS 6-DOF parallel robot and a 2PP 2-DOF parallel robot. The kinematics models of two kinds of parallel robots are analyzed afterwards. In addition, a 6 dimensions (6D) force sensor, which can measure the force and torque of the gripper in all directions, is attached to the end effector. In this paper, the requirements of the assembly system for position control and force control under different contact states between memory module and memory slot during the assembly process is analyzed, and a series of control strategies and a complete set of control processes based on these requirements is designed. Using the parallel robots and control method designed in this paper, experiments are carried out, and the assembly of memory module is finally realized successfully. The experimental results are analyzed at the end of this paper.