對於許多精細工作來說，在顯微鏡頭下微物件組裝為一項重要的任務。本文利用雙微操縱器抓取、操控微物件以增加微物件組裝之功能性及靈活性。為了達成雙微操縱器進行微組裝任務，首先對雙微操縱器的系統分析與測試建立模型，並搭配主從式協調控制進行微組裝之工作。為了避免進行微組裝時物件阻塞的情況，建立物理模型分析組裝時的最大允許角度。自動組裝過程使用非正規化小波熵聚焦演算法及聚焦機構以完成操縱臂之垂直高度定位，並搜尋特徵點位置實現微組裝，本研究最終實現半徑295μm之金屬圓柱組裝於半徑400μm之玻璃管內。

For many sophisticated works, the assembly of micro objects under microscope is an important task. In this thesis, by using dual micro manipulators to grab and manipulate micro objects is to achieve better functionality and flexibility in the microassembly operation. For the microassembly by utilizing dual micromanipulators, the first step is to analyze and test the model of dual micro-manipulators system and cooperate with master-slave coordination control for microassembly work. In order to avoid the object jamming situation during assembling process, a physical model is established to analyze the maximum allowable angle during assembly operation. The automatic assembling process utilizes non-normalized Shannon wavelet entropy algorithm and focus mechanism to achieve vertical positioning of manipulator arm, and search feature points to realize the micro assembly task. The present research finally achieves the goal of assembling the metal cylinder of radius 295μm within a glass radius of 400μm.

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