Author:
Kim Boyoung,Choi Minyong,Son Seung-Woo,Yun Deokwon,Yoon Sukjune
Abstract
Purpose
Many manufacturing sites require precision assembly. Particularly, similar to cell phones, assembly at the sub-mm scale is not easy, even for humans. In addition, the system should assemble each part with adequate force and avoid breaking the circuits with excessive force. The purpose of this study is to assemble high precision components with relatively reasonable vision devices compared to previous studies.
Design/methodology/approach
This paper presents a vision-force guided precise assembly system using a force sensor and two charge coupled device (CCD) cameras without an expensive 3-dimensional (3D) sensor or computer-aided design model. The system accurately estimates 6 degrees-of-freedom (DOF) poses from a 2D image in real time and assembles parts with the proper force.
Findings
In this experiment, three connectors are assembled on a printed circuit board. This system obtains high accuracy under 1 mm and 1 degree error, which shows that this system is effective.
Originality/value
This is a new method for sub-mm assembly using only two CCD cameras and one force sensor.
Subject
Industrial and Manufacturing Engineering,Control and Systems Engineering
Reference22 articles.
1. Vision-guided fixtureless assembly of automotive components;Robotics and Computer-Integrated Manufacturing,2003
2. Sensor guided handling and assembly of active micro-systems;Microsystem Technologies,2006
3. Assembly of hybrid microsystems using an assembly system with 3d optical sensor;CIRP Annals,2006
4. Gradient response maps for real-time detection of textureless objects;IEEE Transactions on Pattern Analysis and Machine Intelligence,2011
5. A novel visual servoing microassembly system,2012
Cited by
2 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献