在手机、电脑等3C产品中，为了减小体积、减轻重量，大量应用了柔性印制电路板等柔性部件。3C产品的装配具有高精度、高效率、低成本、安全、装配空间狭窄等特点，实施自动装配的难度大，是3C制造中亟待解决的关键问题；而易变形柔性部件的自动装配则是3C装配中最具挑战性的难题。本项目基于微分几何理论，提出了具有左右手结构的冗余自由度商联机构协作机器人方案，主要研究：1.冗余自由度（>6自由度）商联机构构型综合理论；2.刚柔耦合结构/控制一体化优化设计方法；3.受限空间内机、电、热、磁多领域的集成式致动器优化设计方法；4.基于结构光的线状、带状非伸缩柔性物体三维变形状态实时跟踪与高精度测量方法；5.基于形变雅可比的柔性物体形状控制方法；6.线状、带状柔性物体的操作规划方法。项目针对构型、致动器、视觉检测、控制与规划等机器人设计与控制关键技术给出了系统化方案，为3C产品柔性部件的装配机器人奠定了理论基础。

In order to reduce volume and weight and increase adaptability, various flexible parts like flexible printed circuits (FPC) and connecting wires are applied in 3C (computer, communication, and consumer electronics) products, e.g., cell phones and PCs. It is very difficult to implement automatic assembly for 3C products because of its stringent requirements of high accuracy, high efficiency, low cost, safety, and limited workspace. Due to their deformability of geometric shape, automatic assembly of flexible parts becomes even challenging in 3C assembly. According to the requirements and based on the theory of differential geometry, we propose an assembling robot solution systematically, which consists of a pair of lower-mobility collaborative manipulators, intrinsically a quotient kinematics machine (QKM). The design and control techniques for the assembling robot are proposed, including 1.type synthesis theory and method for redundant-degree-of-freedom (>6) QKM; 2. dynamic modelling of QKM with mixed rigid/flexible bodies and development of an integrated structure/control design method to design the structure of QKM; 3. a systematic optimal design technique for its mechanical, electrical, magnetic, heat performance of an integrated actuator consisting of motor, reducer, encoder, drive, controller, torque sensor within a very limited space; 4. a structured light based high-precision measuring and real-time tracking method for line- or belt-shaped flexible bodies that are not extendable or retractable; 5. a shape control technique based on deformation Jacobian matrix, and 6. a manipulation planning technique for line- or belt-shaped flexible bodies. Systematic techniques are presented for the design and control of assembling robots including type synthesis, structure design, actuator design, vision detection, shape control and planning. They will provide solid foundation for implementing robot assembly of flexible parts in 3C manufacturing.