An assembly system for inertial pendulum components in miniature wire suspended pendulum accelerometers

Inertial pendulum components are key parts of a miniature wire suspended pendulum accelerometer. They are with varied shapes and multiple scales individually, which results in a complex assembly structure and assembly process. At present, the assembly mainly relies on manual operation, and assembly consistency and productivity cannot be guaranteed. In our previous work, an assembly system based on a Cartesian-coordinate robot was presented, where the mechanical structure and control system composition was mainly described. Here, a detailed assembly principle and process are given besides structure, explaining how to achieve assembly accuracy by combination of well-designed fixtures and automatic position/attitude alignment. Moreover, error analysis and error compensation methods are supplemented, and the locking method of combination fixture/suspended wire is modified to be more reliable. The experimental results demonstrate that assembly accuracy is less than 15 µm, which meets the requirement.