Research for hole-peg assembly based on machine vision and flexible mechanism

In order to realize automatic precision assembly for micro hole-peg, an assembly system based on machine vision and passive flexible mechanism was developed. Machine vision was guided by precision moving platform to detect and control the position at the non-contact phase, the passive flexible mechanism compensated the position error at the contact phase. The principle of assembly system was introduced and the structure of the assembly system was established. The process of hole in peg assembly was studied, the gaps of pegs and holes were less than 32μm, experiment results indicated that when the gap of the peg and hole was about 9μm, the positional error less than 100μm can be assembled smoothly. This system has enough compliance to compensate the positional and angular error, as well as high stability and repeatability.