针对点火靶装配中的套件对接装配,搭建了一套可实现微米级定位、视觉和力觉检测的装配实验平台.通过对装配零件的分类判别以及对应图像的识别检测,实现了位置闭环控制.对套件对接圆环的装配过程进行了分析并建立了装配力模型,在该模型的基础上提出了装配力控制方法.最后,对所研制的自动装配实验系统进行了定位和对接实验,验证了系统的装配力控制、装配精度和效率. A set of assembly experiment platform for micro-level positioning, vision and force detection was set up for the docking assembly of the ignition target assembly, and the position closed-loop control was achieved through the classification and identification of the assembly parts and the corresponding image recognition and detection. The assembling process of the docking ring was analyzed and the assembly force model was established. Based on the model, an assembly force control method was put forward.Finally, the positioning and docking experiments of the automatic assembly system were carried out and verified System assembly force control, assembly accuracy and efficiency.