A Vision-Guided Vibrational Mating for Interchangeable Tools in Cross-Scale Assembly

To enhance the operational capability of manipulating micro-objects with diverse dimensions, a microgripper equipped with interchangeable modular tools is employed. However, the mating process between the microgripper and the modular tools poses a significant challenge due to jamming behavior. In response to this challenge, this article proposes a vision-guided vibrational mating approach. The proposed method utilizes an enhanced edge-based template matching technique to pre-align the microgripper and modular tools, addressing tool deformation issues. Subsequently, a vibrational mating is employed to adaptively alleviate jamming. Experimental results demonstrate that the vision-guided vibrational mating between the microgripper and the modular tool with a clearance of 0.4 mm can achieve 100% success rate in 50 trials.