然后，以一种类似于手工作坊的形式，各种零件集中到一个小社区进行组装。组装是由计件付酬方式由一些家庭在他们家里面完成的。

Then, in cottage industry fashion, the individual parts are delivered to small communities where the puzzles are assembled on a per-piece compensation basis by family groups working in their homes.

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铲状螺栓以一种紧密、牢固和经济的方式固定零件，解决螺丝容易松动的问题，提高组装的效率。

Spade bolts provide a compact, strong and economical means of locating and retaining parts or assemblies in position. They eliminate the need for loose screws and facilitate assembly operations.

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然后以视觉引导微小型机器人完成微小零件的夹取、搬运和视觉、微力觉引导机器人完成微小零件的组装等典型微操作任务为背景展开实验研究。

Then, some micro-handling experiments such as micro parts gripping, transportion and assembly are done to vertify the validity of miniature robot based automatic micro-handling system.

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