A Precise Assembly System for Flexible Gyro Joints

This paper presents a precise assembly method and an experimental system for flexible gyro joints. Some existing assembly methods and problems of gyro joints are summarized. A cross model including an inner and an outer flexible hinges is established. The paper introduces the influence curve of the two flexible joints hinges´ relative position by analyzing the cross model with Pseudo-Rigid-Body. In order to instruct the assembly strategy, error principle in the process of assembly is analyzed. Then a gyro assembly system is established based on the image processing and force sensor control. Some key technique modules including precision positioning, micro-vision and control system are studied respectively. The assembly system is the integration of all the modules. Finally, the feasibility and practicability of the system is tested by some experiments, and the repeatability has reached 5mum.