Research on automatic assembly method of dual manipulator for large-scale segmented optical components

Aiming at the problems of poor safety, reliability and assembly consistency of manual assembly of large segmented optical components, a dual manipulator automatic assembly method is proposed. First of all, a modular automatic assembly system is built, and the interactive cooperation mode of dual robotic arms is adopted to realize the function exchange of the two robotic arms and meet the requirements of a wider and larger visual identification and assembly range. Then, the 3D spatial grasping and assembly relationship is established by the “point cloud stitching” technology based on marker points, and the system calibration is completed. Finally, a “step-by-step” point-by-point approximation assembly strategy is proposed, which corrects the error through binocular vision guidance to improve the final assembly accuracy, which meets the requirements of high assembly accuracy and strong consistency of large-scale segmented optical components.