The invention belongs to the technical field of micro-
assembly, and particularly provides a micro-part
pose automatic alignment device and method. The
pose automatic alignment method comprises the following steps that S1000, a deviation of a current image characteristic and an expected image characteristic of a second micro-part in a microscopic vision
system is obtained; S2000, the deviation is judged whether smaller than a preset threshold value or not, if yes, the second micro-part is aligned with the first micro-part, and if not, S3000 is executed; S3000, a posture adjustment amount and aposition adjustment amount of an end
effector is calculated based on the deviation; and S4000, the
pose of the end
effector is adjusted according to the posture adjustment amount and the position adjustment amount and returning to the S1000 is carried out, wherein the position adjustment amount comprises an adjustment amount for position alignment and a position offset compensation amount caused by compensating the posture adjustment. According to the device and method, by means of closed-
loop control and position compensation, alignment errors are reduced, alignment precision and alignment efficiency are improved, and the problems that an existing micro-part pose alignment method is complex in operation process and low in alignment efficiency are solved.