中文摘要：

针对亚毫米级微型零件的装配精度和效率偏低的问题,构建了21自由度微装配机器人控制系统。首先简要介绍了其控制系统的硬件组成。接着将系统控制软件分解成相应的功能模块,并由这些软件模块组成二个控制阶段,以完成整个微装配过程。提出了一种通用的基于.NET框架的＂四层架构＂设计模式,简化了各软件模块的编写工作,重点讨论了各层的功能及实现细节。最后,成功地应用了所提出的设计方案构建了微装配系统,结果表明该控制系统极大的改善了装配精度和装配效率,能够满足微装配作业的要求。

英文摘要：

Aiming at the low accuracy and inefficiency of assembling Micro-parts sub-millimeter sizes,a microassembly robot with 21 degrees of freedom was built.The hardware components of its control system were briefly introduced.The control software is then decomposed into relevant functional modules which are grouped into two stages in controlling the whole microassembly process.Four-layer architecture design pattern,which is based on the.NET framework,is proposed as a general solution for simplifying the writing of software modules.Functionalities of each layer and its implementation details are emphatically discussed.The proposed design scheme is applied to construct an actual microassembly system,and the results indicate that the software greatly improve the assembling accuracy and assembling inefficiency,meeting the needs of microassembly tasks.