Kuhn–Munkres Algorithm-Based Matching Method and Automatic Device for Tiny Magnetic Steel Pair

Micromachines

Zheng Xu¹  Guo-zhao Yuan¹  Xiao-dong Wang¹  Jun-shan Liu¹  Xian-shuai Quan¹  Tong-qun Ren¹ 

[1] Key Laboratory for Micro/Nano Technology and System of Liaoning Province, Dalian University of Technology, Dalian 116024, China;

关键词: tiny magnetic steel pair;    Kuhn–Munkres algorithm;    matching method;    microassembly;   

DOI  :  10.3390/mi12030316

来源: DOAJ

【 摘 要 】

The tiny magnetic steel pair (TMSP), composed by two tiny magnetic steel blocks (TMSBs), is critical for some precision instruments. Incorrect matching of TMSP may result in insufficient instrument performance. Herein, the matching method of TMSP based on the Kuhn–Munkres algorithm is proposed. Further, an automatic TMSP matching device is developed. Especially, an ingenious clamp for multiple constraints of TMSB is presented and a visual/magnetism/force hybrid control strategy is realized for the safe and efficient manipulation of TMSBs in a magnetic environment. Moreover, with the TMSBs of a pendulum accelerometer, the matching experiments are conducted to validate the comprehensive performance. The result of the numerical experiment shows that the Kuhn–Munkres algorithm-based method is stable and efficient. The results of measurement and TMSP matching experiments show that the device has good repeatability (<1 mT) and practicability. The proposed matching method has great application prospect in various matching and microassembly of TMSPs.

【 授权许可】

Unknown