The printing machine's sleeves are heavy

and must be fit with high accuracy

so

hand operation is hard and low work efficiency

and large body injury for assembling workers. For solve these problems

a printing automatic precision assembly robot with multi-information fusion measuring system is designed. Precision measure is the base of precision assembly. The strategy of using probe-into measure tooling is put forward

which establishes the relative pose relations among the readings of probe-into measure tooling

platform and the through-holes. Thus

eventually

we can obtain the relationship between the readings of measure tooling and the pose of top plate

and then we can obtain the velocity and acceleration of top plate. Sliding mode controller is established for control this robot. The stability of the proposed controllers is proved. Our work will be the theoretical base of the printing automatic precision assembly robot.