中文摘要：

针对点火靶装配中的套件对接装配,搭建了一套可实现微米级定位、视觉和力觉检测的装配实验平台.通过对装配零件的分类判别以及对应图像的识别检测,实现了位置闭环控制.对套件对接圆环的装配过程进行了分析并建立了装配力模型,在该模型的基础上提出了装配力控制方法.最后,对所研制的自动装配实验系统进行了定位和对接实验,验证了系统的装配力控制、装配精度和效率.

英文摘要：

An assembly test platform capable of micrometer positioning, visual and force sensing detection, is developed for suits docking in ignition target final assembly. The classification and discrimination of target parts and the corresponding image detection are adopted to realize closed-loop position control. The target suits docking process is analyzed, and a assembly force model is established. An assembly force control method is proposed based on the established model. Finally,targets positioning and docking experiments are carried out using the developed auto-assembly system, and the system force control, assembly accuracy and efficiency are verified.