Xu Zheng, Yuan Guo-Zhao, Wang Xiao-Dong, Quan Xian-Shuai, Ren Tong-Qun, Liu Jun-Shan
Key Laboratory for Micro/Nano Technology and System of Liaoning Province, Dalian University of Technology, Dalian 116024, China.
Micromachines (Basel). 2021 Mar 18;12(3):316. doi: 10.3390/mi12030316.
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.
由两个微小磁钢块（TMSB）组成的微小磁钢对（TMSP）对一些精密仪器至关重要。TMSP匹配不当可能导致仪器性能不足。在此，提出了基于库恩 - 蒙克雷斯算法的TMSP匹配方法。此外，还开发了一种自动TMSP匹配装置。特别地，提出了一种用于TMSB多重约束的巧妙夹具，并实现了一种视觉/磁性/力混合控制策略，以在磁性环境中安全高效地操作TMSB。此外，利用摆式加速度计的TMSB进行了匹配实验，以验证综合性能。数值实验结果表明，基于库恩 - 蒙克雷斯算法的方法稳定且高效。测量和TMSP匹配实验结果表明，该装置具有良好的重复性（<1 mT）和实用性。所提出的匹配方法在TMSP的各种匹配和微装配中具有广阔的应用前景。
