電動機座加工自動線卸料機械手設計,電動機座加工自動線卸料機械手設計,電動,機座,加工,自動線,卸料,機械手,設計 題目名稱 電動機座加工自動線卸料機械手設計 題 目 類 別 設計類 √ 題目 性質 結合實際 √ 專 業(yè) 機械設計制造及其自動化 參加本題目 學生人數 1 論文類 虛擬題目 題目來源、教師準備情況、主要培養(yǎng)學生哪些能力 1.題目來源：自擬 2.教師準備情況：從事機械設計制造及其自動化領域的教學與研究30年，自1999年起自擬并指導該方向的畢業(yè)設計題目整10年，有一定的研究基礎。 3.主要培養(yǎng)學生的能力：文獻查閱與實際調研能力；外文資料翻譯能力；基礎理論與專業(yè)知識的綜合應用能力；數據資料的采集、處理與分析能力；計算機應用能力； 題 目 內 容 及 要 求 1.用途： 在電動機座加工自動線上卸料 2規(guī)格參數 抓重： 35Kg 定位方式：機械擋塊 自由度數：2個 定位精度：0.5mm 坐標形式：類似圓柱坐標 手臂回轉范圍：90° 手臂升降行程：400mm 手指夾持范圍：孔徑252mm 驅動方式：液壓 實 踐 環(huán) 節(jié) 安 排 實習 去工廠、研究所或上網進行社會調研 實驗 計算機應用 計算機繪圖 中、外文參考資料： 1.陸祥生等編.機械手—理論與應用.中國鐵道出版社，1985 9.岡薩雷斯RC著.機器人學.北京：中國科學技術出本社，1989 2.天津大學編.工業(yè)機械手設計基礎.天津：天津人民出版社，1980 10.蔡自興編著.機器人原理及其應用.長沙中南工業(yè)大學出版社，1988 3.高井宏幸（日）等編著.工業(yè)機械人的結構與應用.北京：機械工業(yè)出版社，1997 11.馮香峰編著.機器人機構學.北京：機械工業(yè)出版社，1991 4.—機部情報所編.國外工業(yè)機械手參考資料.重慶：科學技術文獻出版社重慶分社，1980 12.徐灝主編.機械設計手冊第五卷.北京：機械工業(yè)出版社，1992 5.波波夫著.操作機器人動力學預算法.北京：機械工業(yè)出版社，1983 13.Harttey J著.Robots at Work.1983 6.工業(yè)機械手圖冊編寫組編.工業(yè)機械手圖冊.北京：機械工業(yè)出版社，1978 14.吳旭朝編.工業(yè)機械手設計基礎.天津：天津科學技術出版社，1980 7.張建民編著.工業(yè)機器人.北京：北京理工大學出版社，1988 8.尤列維奇EN著.機器人和機械手控制系統.北京：新時代出版社，1985 教研室主任 審批簽字 分 院 院 長 審批簽字 注：題目類別和題目性質請用符號√填在相應欄內。 長春理工大學光電信息學院學生畢業(yè)設計（論文）登記表 分院 機電工程分院 專業(yè) 機械設計制造及其自動化 班級 0623425 學生姓名 李國良 指導教師 陳玲 設計（論文）起止日期 2010年3月8日—6月18日 教研室主任 題目名稱（包括主要技術參數）及要求 1. 題目名稱：氣動通用機械手驅動系統設計 2. 要求: 1.用途： 在電動機座加工自動線上卸料 2規(guī)格參數 抓重： 35Kg 定位方式：機械擋塊 自由度數：2個 定位精度：0.5mm 坐標形式：類似圓柱坐標 手臂回轉范圍：90° 手臂升降行程：400mm 手指夾持范圍：孔徑252mm 驅動方式：液壓 論文開題報告（設計方案論證） 應包括以下幾方面的內容： 1、 本課題研究的意義；2、調研（社會調查）情況總結；3、查閱文獻資料情況（列出主要文獻清單）；4、擬采取的研究路線；5、進度安排。 指導教師審閱意見： 2010年03 月 15 日 記事： 指導教師審閱意見： 年 月 日 長春理工大學光電信息學院學生畢業(yè)設計（論文）登記表 分院 機電工程分院 專業(yè) 機械設計制造及其自動化 班級 0623425 學生姓名 李國良 指導教師 陳玲 設計（論文）起止日期 2010年3月8日—6月18日 教研室主任 題目名稱（包括主要技術參數）及要求 1. 題目名稱：氣動通用機械手驅動系統設計 2. 要求: 1.用途： 在電動機座加工自動線上卸料 2規(guī)格參數 抓重： 35Kg 定位方式：機械擋塊 自由度數：2個 定位精度：0.5mm 坐標形式：類似圓柱坐標 手臂回轉范圍：90° 手臂升降行程：400mm 手指夾持范圍：孔徑252mm 驅動方式：液壓 論文開題報告（設計方案論證） 1、 應包括以下幾方面的內容：本課題研究的意義；2、調研（社會調查）情況總結；3、查閱文獻資料情況（列出主要文獻清單）；4、擬采取的研究路線；5、進度安排。 本課題研究的意義： 在機械工業(yè)中，應用機械手的意義可以概括如下： 工業(yè)機械手是近幾十年發(fā)展起來的一種高科技自動化生產設備。工業(yè)機械手的是工業(yè)機器人的一個重要分支。它的特 點是可通過編程來完成各種預期的作業(yè)任務， 在構造和性能上 兼有人和機器各自的優(yōu)點， 尤其體現了人的智能和適應性。機 械手作業(yè)的準確性和各種環(huán)境中完成作業(yè)的能力， 在國民經濟 各領域有著廣闊的發(fā)展前景。機械手技術涉及到力學、機械學、 電氣液壓技術、自動控制技術、傳感器技術和計算機技術等科 學領域， 是一門跨學科綜合技術。 目前已經開發(fā)出了多種類型機器人機構， 運動自由度從3自由度到7或8自由度不等，其結構有串聯、并聯及垂直關節(jié)和平面關節(jié)多種。目前研究重點是機器人新的結構、功能及可實現性，其目的是使機器功能更強、柔性更大、滿足不同目的的需求。另外研究機器人一些新的設計方法， 探索新的高強度輕質材料，進一步提高負載/自重比。同時機器人機構向著模塊化、可重構方向發(fā)展 國內外現狀和發(fā)展形勢： 我國機器人學研究起步較晚， 但進步較快， 已經在工業(yè)機器人、特種機器人和智能機器人各個方面區(qū)的了明顯的成就。近年來我國的機器人自動化技術也取得了長足的發(fā)展， 但是與世界發(fā)達國家相比， 還有一定的差距， 如可靠性低于國外產品；機器人應用工程起步較晚， 應用領域窄， 生產線系統技術與國外比有差距。我國目前從事機器人研發(fā)和應用工程的單位相對較少， 工業(yè)機器人的擁有量遠遠不能滿足需求量， 長期大量依靠從國外引進。 指導教師審閱意見： 2010年03 月 15 日 記事： 指導教師審閱意見： 年 月 日 摘 要 本論文在對工業(yè)機械手總體構思和結構分析的基礎上，結合通用機械手的給定要求 和功能，對機械手結構進行了系統的分析、設計和計算，并擬定了整體驅動系統和控制系統。 采用機電一體化設計思想，充分考慮機、電、軟、硬件各自特點進行互補優(yōu)化，對機械手整體結構、傳動系統、驅動裝置和控制系統進行了分析和設計。 在結構設計的過程中結合以往機械設計的經驗確定了機械手的詳細尺寸。在標準件的應用中，充分考慮實際情況和標準件的應用準則進行了選用。由于該機械手采用液壓驅動，在油路的布置和規(guī)劃中結合機械制造的基礎，不但使油路符合制造的可行性，而且將油路布置成空間結構，是機械手的結構更加簡潔和緊湊。 在傳動系統和驅動裝置的設計中，結合各個液壓缸的動作，對液壓油的流量和壓力進行了分析，結合液壓原理中各種常用回路的功能和各液壓元件的選用原則，制定出了一套完整的液壓系統。 在控制系統的設計過程中，采用PLC可編程控制器作為控制主機，行程開關的開合作為中間動作信號，在加上PLC內部延時繼電器的使用對該機械手進行了編程，提出了一份有不同功能模塊的梯形圖。 通過以上各部分的工作，得出了實用化、高可靠性通用機械手的設計方案，對其他類型的數控系統的設計也有一定的借鑒價值。 關鍵詞：通用機械手、結構設計、驅動系統、PLC Abstract This paper in the overall industrial manipulator design and structural analysis on the basis of Combining manipulator to establish requirements and functions of the manipulator structure of the system analysis, design and calculation and the preparation of the overall drive system and control system . Electrical and Mechanical design integration, and give full consideration to, electronic hardware and software characteristics of their respective complementary optimization, manipulator of the overall structure, transmission, drive and control system for the analysis and design . The structural design of the course with previous experience in mechanical design of the manipulator to determine the detailed size .In the application of standard parts, and give full consideration to the actual situation and the standard parts of the selection criteria . As the hydraulic manipulator drivers in the asphalt layout and planning with machinery manufacturing base not only with asphalt manufacturing feasibility and layout of asphalt into space structure, Manipulator is the structure more simple and compact . Drivers in the transmission system and equipment design,the integration of the various hydraulic cylinder moves the hydraulic oil flow and pressure analysis hydraulic principles used various circuit functions and the use of hydraulic components, draw up a complete set of hydraulic systems . In the control system design process, using PLC as the control host, Switching trip to the Middle cooperating moves signal In addition PLC internal delay relays on the use of manipulator of programming, presented a different function module ladder . Through the above, the part of the process come to practical use, high reliability General manipulator design, for other types of CNC system design has some reference value . Keywords :Definitive manipulator、structural design、drive system、PLC 長春理工大學光電信息學院 畢業(yè)設計（論文）題目申報表 院 別 機電工程分院 教 研 室 機械工程教研室 指導教師 陳玲 職稱 教授 職稱 2009年 12 月 20 日 題目名稱 電動機座加工自動線卸料機械手設計 題 目 類 別 設計類 √ 題目 性質 結合實際 √ 專 業(yè) 機械設計制造及其自動化 參加本題目 學生人數 1 論文類 虛擬題目 1.題目來源、教師準備情況、主要培養(yǎng)學生哪些能力 2.教師準備情況：從事機械設計制造及其自動化領域的教學與研究30年，自1999年起自擬并指導該方向的畢業(yè)設計題目整10年，有一定的研究基礎。 3.主要培養(yǎng)學生的能力：文獻查閱與實際調研能力；外文資料翻譯能力；基礎理論與專業(yè)知識的綜合應用能力；數據資料的采集、處理與分析能力；計算機應用能力； 題 目 內 容 及 要 求 1.用途： 在電動機座加工自動線上卸料 2規(guī)格參數 抓重： 35Kg 定位方式：機械擋塊 自由度數：2個 定位精度：0.5mm 坐標形式：類似圓柱坐標 手臂回轉范圍：90° 手臂升降行程：400mm 手指夾持范圍：孔徑252mm 驅動方式：液壓 實 踐 環(huán) 節(jié) 安 排 實習 2009年12月~2010年3月 實驗 2010年3月~2010年4月 計算機應用 2010年4月~2010年6月 中、外文參考資料：[1]李允文.工業(yè)機械手設計[M].北京:機械工業(yè)出版社，1997 [2]工業(yè)機械手設計基礎[M].天津:天津科學技術出版社，1985 [3]渡邊茂.產業(yè)機器人技術[M].北京:機械工業(yè)出版社，1982 [4]黃凈.電氣及PLC控制技術[M]．北京:機械工業(yè)出版社，2004年． [5]李建新．可編程序控制器及其應用[M]．北京：機械工業(yè)出版社，2004年． [6]藤森洋三.供料過程自動化圖冊[M].北京：機械工業(yè)出版社，1985 [7]張建民.工業(yè)機器人[M].北京:北京理工大學出版社，1987 [8]吳振彪.工業(yè)機器人[M].武漢：華中科技大學出版社，1996 [9]劉延林.柔性制造自動化概論[M].武漢：華中科技大學出版社，2001 [10]左健民.液壓與氣壓傳動[M].北京：機械工業(yè)出版社，2005 [11]彭文生.機械設計[M].武漢：華中理工大學，2000 [12]鄧星鐘.機電傳動控制[M].武漢：華中科技大學出版社，2001 [13]任文敏.材料力學[M].北京：清華大學出版社，2004 [14]液壓轉動設計手冊[M].上海：上海人民出版社，1976 [15]瞿大中.可編程控制器應用與實驗[M].武漢：華中科技大學出版社，2002 [16]李玉琳.液壓元件與系統設計[M].北京：北京航空航天大學出版社，1991 [17]廖常初.可編程控制器的編程方法與工程應用[M].重慶：重慶大學出版社，2004 [18]Prabhakar R.Pagila,Biao Yu.Adaptive Control of Robotic Surface Finishing Processes. America:Proceedings of the American Control conference,June 25-27,2001 [19]J.H. Ahn, Y.F. Shen, H.Y. Kim, H.D. Jeong. Development of a sensor information integrated expert system for optimizing die polishing. American :Robotics and c0mputer Integrated Manufacturing 17 (2001) 269-276 教研室主任 審批簽字 分 院 院 長 審批簽字 注：題目類別和題目性質請用符號√填在相應欄內。 本科生畢業(yè)設計（論文） 翻譯資料 中文題目： 以微型機器人為基礎的自動化 顯微操作裝置為微系統裝配 英文題目： A microbot-based automated micromanipulation station for assembly of Microsystems A microrobot-based automated micromanipulation station for assembly of microsystems Sergej Fatikow Mirko Benz Abstract： The development of new types of miniaturized and microrobots with human-like capabilities play an important role in different application tasks. One of the main problem of present-day research is, for example, to assemble a whole microsystem from different microcomponents.This paper presents an automated micromanipulation desktop station including a piezoelectrically driven microrobot placed on the highly-precise x–y stage of a light microscope, a CCD-camera as a local sensor subsystem, a laser sensor unit as a global sensor subsystem, and a Pentium PC equipped additionally with an optical grabber. The microrobot has three piezoelectrically driven legs and two autonomous manipulators as endeffectors; it can perform highly-precise manipulations （with an accuracy of up to 10 nm） and a nondestructive transport （at a speed of several mm/s） of very small objects under a microscope. To perform manipulations automatically, a control system, including a task planning level and a real-time execution level, is being developed. （C）1998 Elsevier Science B.V. All rights reserved. Keywords： Microrobots; Microassembly; Automated desktop station; Assembly planning; Piezoactuators 1.Introduction： There is a growing need for miniaturized and microrobots worldwide. Due to the enormous breakthroughs in conventional robotics and in the microsystem technology (MST),everyone is convinced that the development of remote-controlled or autonomous microrobots will lead to improvements in many areas. Above all, positive results are expected in medicine (microsurgery),manufacturing (microassembly, inspection and maintenance), biology (manipulation of cells) and testing/measuring technique (VLSI) . Medicine is one of the application fields which would profit by the microrobotics the most. The attention lies on artificial organs (prosthetics) , laparoscopy, implantable drug delivery systems (diagnosis and therapy systems) , telemicrosurgery, etc. The minimal-invasive surgery developed into an important field of medicine during the last years.Smaller and more flexible active endoscopes are needed in order to replace human hands, respond to outer incidents, penetrate into a body or a vessel through natural bodily orifice or a small incision by remote control, where they perform complex in-situ measurements and manipulations. In order to meet these requirements, microprocessors, several sensors and actuators, a light source and possibly an image processing unit should be integrated into an intelligent endoscope. Biotechnology requires special microstructured active tools which are able to perform micromanipulations like the sorting or reunion of cells or the injection of a foreign body into a cell under a microscope. In the gene research and the environment technique （cells as indicators for harmful substances）, precise and gentle manipulation of single cells are also required. Industry and especially manufacturing and measuring techniques need highly sensitive testing methods in the μm-range. An important task represents, for example, the inspection of wafers, where several check points have to be contacted by a temperature or voltage probe. The same is valid for inspection robots which are used in inaccessible or dangerous terrain in order to detect leaks or flaws and make repairs （e.g., in pipelines）。The adoption of MST-related developments by the industry has already demonstrated which kind of problems occur with the mass production of microsystems. These systems usually consist of microcomponents of different materials which are produced with various microtechniques; this leads to one or several very precise assembly step （s）of the individual components. The assembly of microsystems, i.e., the non-destructible transport, precise manipulation or exact positioning of microcomponents is becoming one of the most important applications in microrobotics. 2. Manipulation of microobjects： The availability of highly precise assembly processes will make it easier to economically realize operable microsystems. In order to efficiently produce microsystems and components in lot sizes or by mass-production techniques, it is absolutely necessary to introduce flexible, automated, precise and fast microassembly stations. Different concepts are being followed to do micromanipulation for particular classes of application. Purely manual micromanipulation is the most often used method today. In medicine and biological research, it is used exclusively. Even in industry, microassembly tasks are very often carried out by specially trained technicians, who, for example, preposition assembly parts using screws and springs, then position the parts with tiny hammers and tweezers, and finally fasten them in the desired position. However, with increasing component miniaturization, the tolerances become smaller and smaller, and the capabilities of the human hand are no longer adequate. The application of partially automatic micromanipulation systems of conventional size, which are teleoperated; thereby, the hand motions of the human operator are translated into finer 3D motions for the manipulators of the manipulation system by means of a joystick or mouse. Here, the dexterity of the human hand is supported by sophisticated techniques. However, the fundamental problem of the resolution of the fine motion and of the speed remain, since the motion of the tool is a direct imitation of that of the operator’s hand. The use of automated multifunctional micromanipulation desktop stations’ supported by miniaturized flexible robots which employ MST-specific direct- drive principles. These robots could be mobile and are able perform manipulations in different work areas. The transport and micromanipulation units performing the assembly may be integrated onto one chip. As opposed to the aforementioned micromanipulation technique, there is no direct connection between the operator’s hands and the robot. The assembly steps may be carried out with the help of closedloop control algorithms. The human assigns all tasks to miniaturized assembly mechanisms and, by doing so, tries to compensate for his limited micromanipulation capabilities. Many microrobots can be active at the same time in a desktop station. The use of many flexible nanorobot systems which solve the manipulation tasks in close cooperation. Here, the robot size is comparable to that of the manipulated object. This concept could be based on the human behavior, but its realization lies in the distant future. In general, manipulations vary from an application to another. However, approximately the same operation sequences are used in every case. They are: grip, transport, position, release, adjust, fix in place and processing steps like cutting, soldering, gluing, removal of impurities, etc. In order to be able to carry out these operations, corresponding tools are needed, such as microknives, microneedles to affix objects, microdosing jets for gluing, microlaser devices for soldering, welding or cutting, different types of microgrippers, microscrapers, adjustment tools, etc. Microgrippers play a special role, since they considerably influence the manipulation capabilities of a robot. Microgrippers can clamp, make a frictional connection or adhere to the material, depending on the physical and geometrical properties of an object. Adapting a gripper to the shape of the object to be gripped is often the best solution in the microworld, even at the cost of flexibility. This allows handling of a workpiece having a complex shape, such as a gear. Thereby, the gripper securely attaches to the contour of the part. For small, smooth parts, a suction pipette might be a practical tool. If the upper surface of a workpiece must not be touched or gripped due to technological reasons, it can be protected by a corresponding form-fit of the pipette hole. For contour clamping and frictional connections in manipulations involving fragile parts, elastic grippers made of soft plastics are preferred over metal grippers. Due to the variety of task-specific gripping tools in automated micromanipulation systems, a suitable gripper exchanger system might be necessary. It should be mentioned that it is not always possible to adapt conventional manipulation methods to the demands of the microworld. A major problem is the effect of various forces which is completely different from the macroworld. Gravitation only plays a minor role in the microworld, but attractive forces,such as electrostatic forces or Van-der-Waals forces, are significant. Liquid surface tension can also act as an attractive force in micromanipulations if humidity is high or if a manipulator is wet. This unusual sensitivity to forces can be very irritating in a micromanipulation station. For example, it can be easier for the robot to grip and manipulate an object than to release it afterwards. On the other hand, such an adhesion force can be used to develop new gripping methods which can fundamentally differ from the familiar mechanical and pneumatic methods. In Ref. 【1】 , several interesting ideas were shown for adhesive gripping, such as electrically charging a manipulator or wetting a gripper surface by special micromachined orifices. The performance and degree of intelligence of a micromanipulation station is low for a manual operation; it improves by going to a teleoperation and further to an automation; this is similar with conventional robots. Most micromanipulation investigations today focus on the improvement obtained by going from a purely manual to a teleoperated system【2–4】. As previously mentioned, attempts are being made to make the transmission of effects from the microworld to the operator as realistic as possible. It is important that the operator has the entire scene in his field of view and that he can see the workspace from different angles. Besides visual information, the operator should also be able to receive acoustic and force signals if possible; this may increase the accuracy of his movements and avoid destroying the microobjects. For this, force sensors are needed which are implemented into the microtools (e.g., a microgripper) . Suitable solutions are now being sought after to realize such sensors【5】. 3. Development of a flexible micromanipulation Station： Typically, in a conventional automatic or semiautomatic assembly station, standardized mechanical parts are assembled in well-defined work positions. The robots performing the work are usually of multi-axis arm design or they are gantry systems,usually driven by DC motors. Today, it is being attempted to use these type of familiar systems for handling and assembling of miniaturized components with dimensions in the millimeter range. For example, a modular microassembly system with four degrees of freedom is currently being developed【6】.With increasing workpiece miniaturization, however,it becomes more and more difficult to use conventional manipulation robots for assembling microsystems.The manipulation accuracy is mechanically limited for conventional robots, since disturbing influences which can be neglected in the microworld, such as small fabrication defects, friction, thermal expansion or computational errors, play a large role in the microscale. Due to the mechanical drives for the actuator’s motions, these robot systems must undergo regular maintenance and are subject to mechanical wear, which makes them expensive. The assembly process in the microworld is influenced by the mass-related dynamics of the objects being handled. Different processing conditions exist for manipulating microscopically small components. The positioning accuracy and the tolerances of the micro-components lie in the nanometer range, a few orders of magnitude lower than in conventional assembly. These accuracy requirements can only be obtained with manipulators which have highly accurately drives utilizing the MST and advanced closed-loop control. Therefore, a microrobot-based flexible desktop station is of particular interest. A new concept for an automated micromanipulation desktop station is now being investigated 【7】. The main part of the station are the piezoelectric microrobots which were presented in Refs.【8,9】.Each robot has a micromanipulating unit integrated in a mobile platform, which makes it capable of moving and manipulating. Tools can be easily exchanged. These robot properties are good preconditions for the complete sensor supported automation of manipulation processes in the microassembly station. Owing to the flexibility of the microrobot, this multifunctional desktop station can also be used for other things, such as handling biological cells or actively testing microelectronic chips with temperatureor or voltage probes. This flexibility can also be used to accommodate several robots in the station, which can cooperate and carry out manipulations. The schematic design of the micromanipulation desktop station is shown in Fig. 1. The operations of the microassembly station may be described as follows. The parts are first separated and placed into magazines in order to have them correctly positioned for automated assembly. This is necessary, since microcomponents are often delivered as bulk material. This step can also be automated in a powerful microassembly station, to avoid the expensive manual handling. A microrobot removes a micromechanical component from the magazine and transfers it to a processing cell where the component can then be prepared for microassembly by other microrobots. In this step, adhesives or solder can be applied, adjustment marks taken, or other simple operations carried out. After the part has been processed, it is gripped by a robot and brought to a microassembly cell. If necessary, the same operations are repeated many times in order to fetch the other necessary components from a supply container and prepare them for assembly. All components are positioned correctly, affixed to each other and adjusted. Thereafter, they are joined together by various interconnection techniques, e.g., laser spot welding, gluing, insertion, wire bonding, etc. After assembly, a robot brings the finished component either to another work station or a microassembly cell for further processing or to an inspection cell, where all functions of the microsystem are being tested. Finally, the finished system is transported to a storage. The entire assembly process occurs in the desktop station under an automated light-optical microscope which is equipped with a RS232-standard interface. The sphere of operation includes a highly precise positioning table with two translational degrees of freedom （x–y plane ）and a glass plate fixed on top of it. By controlling the movements of the table, each individual working cell on the glass plate can be brought under the microscope. The station has a central computer （Pentium PC） which is used for task-specific assembly planning. The necessary operational steps are defined and carried out successively. The commands of the central computer are then further processed on a lower control level, using a parallel computer system with the C167 microcontrollers. This system was reported in Ref.【10】. The central computer is coupled with the parallel computer system over serial and parallel interfaces. These commands are resolved into command sequences for all active system components （robots, microscope and positioning table） by an execution planning system, and finally performed. Thanks to the parallel computer system, the generated commands can be executed in parallel, which makes the microassembly station capable of real-time behavior. The movements of the positioning table, different microscope functions （objective changing, focusing, lighting） and every piezoactuator are controlled. In order to automatically control the manipulation processes in the microassembly station, there must be sensor feedback. Therefore, the light-optical microscope is equipped with a CCD camera. The camera and the microscope form the local sensor system with the help of which the position of the microobjects and the robot tools must be determined. For this it supplies visual information on the robot tools and the microobjects to the central computer. The gross position of the robots on the glass plate is detected by a global sensor system which includes a laser measuring unit and another CCD camera. The visual sensor information from both the local and the global sensor systems is used by the control algorithms to generate new commands for the robots, microscope and the positioning table. Vision is supported by a frame grabber in connection with fast real-time image recognition and processing systems. The vision parameters are passed on to the parallel computer system. They are used as a set point for the control loop. 4. Planning of the microassembly： The above description of microassembly station activities is very general and perhaps makes the assembly process sound too simple, but many problems must first be solved. After a microsystem has been designed, all tools and techniques necessary for its automated assembly should be determined, so that the microassembly station can be set up for a taskspecific operation sequence. The specified techniques and tools must take the geometry of the components of the microsystem into consideration, as well as their physical properties, such as rigidity, texture and temperature stability. Therefore, the planning phase of an automated microassembly requires a high degree of competence. Pure top-down planning in a microassembly station seems to be impossible since the selected robots and their tools determine the flexibility and the degree of automation of the station, and therefore, also determine its performance limits. One possible planning strategy is the meet-in-the-middle strategy; thereby, this intermediate interface can be on the tool level. Indeed, the main functions of assembly planning are the determination of the task-specific sequences of the elementary operations and the selection of necessary tools for carrying out the work (top-down planning) . On the other hand, the tools and the elementary operations needed for the assembly of a microsystem also require that the microrobots have specific functional properties, which may influence the robot design (bottom-up planning) . As mentioned, for more complex assembly tasks several robots must be used together in the desktop station. Individual robots can, for example, be specialized to take care of one or more certain assembly operations. In this case, the robots carry out their manipulation tasks in a sequence which is defined during the planning phase. For more complex operations, robots can be pooled together to do simultaneous actions with the help of several different tools (e.g., transferring or gripping of objects) . In this case, the operator’s commands are no longer transmitted one-by-one to the manipulator arms, but are applied to the entire multirobot system, e.g., by means of the ‘one-by-multiple’ method 【11】. Here, one microrobot acts as the leader of the group, it gets micromanipulation assignments from the operator and then coordinates the other microrobots to complete the task using an automatic process for communicating with the robots and then giving them the corresponding commands. If the cooperating robots are equipped with sensors, new object manipulation methods can be developed, which are based on the distributed observation of the objects. The object could be observed from two view points, for example, which would supply exact data concerning the