# Design and Research of Intelligent Assembly and Welding Equipment for Three-Dimensional Circuit
## 1 Introduction  
Military informatization is the inevitable trend of modern information war, and military electronics is an important link to improve the level of information technology of weapons and equipment. Among them, military radar is the primary visual sensor of combat system, which is crucial to target identification, target tracking, target location, missile guidance, etc., so it is regarded as the core system of military informatization [1; 2; 3]. With the development of microelectronics technology and large-scale integrated circuit technology, the fabrication of conformal antenna has become a research hotspot in the field of modern wireless communication antenna, and it has great application potential in the field of high-speed aircraft such as aircraft, missiles, and satellites [4; 5; 6; 7] (As shown in Figure 1). Conformal antennas can be divided into surface conformal antennas and structural conformal antennas. Surface conformal antennas are generally low-profile antennas that are laminated to the carrier surface to achieve a conformal effect [8]. Structural conformal antennas refer to antennas that are embedded inside the slot or slit on the surface of the carrier, embedded inside the carrier, and then installed in a flush manner to conform to the surface of the carrier to achieve a conformal effect [9]. Compared with the planar array antenna, the conformal array antenna will not disrupt the aerodynamic layout of the carrier,and the maneuverability of the aircraft will not be significantly affected. In addition, due to its curved surface characteristics, the conformal antenna makes full use of the surface area of the fuselage to obtain a larger aperture, achieving the goal of \"small platform, large warning\". The American MUSTRAP project [10] developed a structure integrated with a low cost. Through flight tests, it was found that the integrated antenna improved the low-frequency signal-to-noise ratio by 15-25 dB compared with the traditional blade antenna. [PERSON] et al. [11] developed a CLSAAS design for a Ku-band satellite communication array antenna, which consisted of 64 array antenna patches. The antenna structure design was verified through simulation analysis and experiments, and the electrical performance of the antenna array was improved by optimizing the arrangement and spacing of radiation units. In China, [PERSON] et al. [12], from the Air Force Engineering University, proposed the use of hybrid 3D printing technology to process airborne ultra-wideband conformal antennas, and they verified that the conformal antennas processed via this method met the performance requirements through standing wave testing and directional pattern testing. [PERSON] et al. [13] at Peking University designed an array antenna based on polyimide films which can operate in the P-band with a wide scanning angle. The finite dipole array of the conformal antenna achieved a fractional bandwidth of 16.7% and a wide scanning angle range of \(\pm 60^{\circ}\) in the E-plane. The working ability of conformal antennas benefits the \"specialness\" of a curved conformal surface, but its manufacturing difficulty is also affected by the characteristics of the surface. Conformal antenna surface circuit manufacturing involves integrated processes on arbitrary free-form surfaces; under the commonly used planar circuit manufacturing process, it is difficult to meet the processing needs of the surface circuits, and there is usually a need to use the planar manufacturing circuit technology to create planar flexible circuits through the transfer printing technology to attach to the surface to achieve conformality [14] (As shown in Figure 2). Currently, the challenges of direct processing of antenna circuits on curved surfaces can be addressed through various manufacturing techniques such as printing manufacturing technology [15; 16; 17], inkjet print manufacturing technology [18; 19; 20], holographic lithography technology [21], microfluidic technology [22], and screen printing technology [23].