针对偶件装配对同轴度的要求，提出了一种基于柔性解耦梁和显微视觉技术的同轴定位调整系统。为满足同轴度在线调整和轴套的位姿保持，设计了一种“田”字型两自由度柔性解耦梁机构，并结合微动平台和夹具来实现同轴度调整时零件轴的精确定位。根据力学原理，建立了柔性梁的刚度模型，结合有限元法进行仿真分析，确定出梁的结构参数尺寸。对同轴定位调整系统中的显微视觉功能和过程进行了设计，并通过Hough算法实现精密同轴定位的实时检测功能，计算出同轴偏差作为调整的数值依据。大量的同轴定位调整实验显示，同轴度定位精度优于8 μm，同时大大提高了装配效率。结果表明，该定位调整系统为器件的装配提供了精确的定位参数，可以准确、高效地实现定位装配。

According to the requirement of the assembly of a shaft and a sleeve for coaxiality, a coaxial positioning system was presented based on the flexible decoupling beams and micro-vision technology. To implement the online adjustments and maintain posture of the shaft and the sleeve, a flexible beam structure with a square pattern and two degrees of freedom was designed. Combined with a micro-platform and a clamp, this structure has achieved an exact coaxial precision in the positioning. According to mechanics, a stiffness model of the flexible beam was established. Then the parameters of the beams were determined by a simulation in finite element method. A micro-vision system was designed to be used in the system. Through the Hough algorithm, the precise coaxial positioning of the real-time detection was realized and the coaxial deviation computed was used as the value of the adjustment. Through lots of coaxial experiments, it shows that the coaxial positioning accuracy has been less than 8 μm. The results indicate that the positioning device can provide precise positioning of parameters, and can guarantee the realization of positioning assembly.