为了实现柔性导线理线焊接的自动化,以直径几十微米的柔性导线为研究对象,设计了一种具有自动引线功能的柔性导线微夹持系统.把引线过程分解为定位、夹持、牵引和释放4个阶段,通过显微视觉系统计算显微对象之间的相对距离,利用微夹钳操作柔性导线.设计了柔性导线自动微夹持系统的结构,包括视觉系统、微夹钳和控制系统,对微夹钳的力学性能进行了仿真.实验结果表明:该系统能够准确计算微夹钳和导线之间的相对距离,并能成功实现夹持、牵引和释放导线的功能,能够用于任何柔性导线的微夹持环境中.%To realize automatic welding flexible wire, a micro-gripping system applied in handling the flexible wires with a diameter of tens of microns was designed in this paper. The process of handling the flexible wires was divided into four sub-procedures, i. e. , the position computing, the wire-gripping, the wire-dragging and the wire-releasing sub-procedures, which were realized through different structures and methods. The position computing sub-procedure output the relative distance between the micro-gripper and the flexible wire, which was constructed through a microscopic stereovision system. The other three sub-procedures mainly for handling the flexible wires were realized through designing a micro-gripper. The structure of the micro-gripping system was designed and composed of microscopic the stereovision system, the micro-gripper and the control system. Moreover, the mechanical property of the micro-gripper was simulated precisely. Results show that our system can precisely compute the relative distance between the micro-gripper and the wire, and effectively grip, drag and release the flexible wires. The micro-gripping system can be widely used in the different areas of micromanipulation.
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