中文摘要：

以D—H变换矩阵为工具分析了机械臂的正、逆运动学，提出了一种基于偏差模型的应变片自动装配系统设计方法．该方法可以避免系统的全局校准，有效解决了机械臂轨迹规划问题．同时，采用机器视觉技术确定机械臂前端执行器的中心位置，提高了系统定位精度．样机实测结果表明，其贴装速度、贴装精度及其一致性均达到了设计目标．该系统已投入实际的应变片自动贴装工业化应用，在生产过程中，该系统能每分钟进行20次贴装，且贴装偏移精度小于0．1mm，偏转精度小于1°．

英文摘要：

The manipulator＇s forward and inverse kinematics are analyzed with D-H transformation matrix, and a deviation model for solving the design problem of strain gauge automated assembly system is provided. This method not only avoids global calibration of the system, but also effectively solves the problem of trajectory planning. Meanwhile, the machine vision technology is used to determine the center position of the front actuator, which improves the system positioning accuracy. Prototype test results show that the design goals and requirements are achieved in terms of the speed, accuracy and consistency of strain gauge mounting. The system can be put into the industrial application of automatic mounting of strain gauges. During production process, the system can complete than 0.1 mm, the deflection accuracy is less than 1 20 times mounting per minute, and the offset accuracy is less Keywords：than 0. 1 mm, the deflection accuracy is less than 1°.