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International Journal of Advanced Robotic Systems Volume 16 ,Issue 3 ,2019-06-13
Automatic precision robot assembly system with microscopic vision and force sensor
Research Article
Yanqin Ma 1 , 2 , 3 Kai Du 4 Dongfeng Zhou 5 Juan Zhang 4 Xilong Liu 1 , 2 De Xu 1 , 2
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DOI:10.1177/1729881419851619
Received 2019-1-3, accepted for publication 2019-4-18, Published 2019-4-18
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摘要

An automatic precision robot assembly system is established. The robot assembly system mainly consists of an industrial robot, three cameras, a micro force sensor, and a specific gripper. The industrial robot is a six-axis serial manipulator, which is used to conduct grasping and assembly subtasks. Two microscopic cameras are fixed on two high accuracy translational platforms to provide visual information in aligning stage for assembly. While one conventional camera is installed on the robotic end effector to guide the gripper to grasp component. The micro force sensor is installed on the robotic end effector to perceive the contacted forces in inserting stage. According to the characteristics of components, an adsorptive gripper is designed to pick up components. In addition, a three-stage “aligning–approaching–grasping” control strategy for grasping subtask and a two-stage “aligning–inserting” control strategy for assembly subtask are proposed. Position offset compensation is computed and introduced into aligning stage for assembly to make the grasped component in the microscopic cameras’ small field of view. Finally, based on the established robot assembly system and the proposed control strategies, the assembly tasks including grasping and assembly are carried out automatically. With 30 grasping experiments, the success rate is 100%. Besides, the position and orientation alignment errors of pose alignment for assembly are less than 20 μm and 0.1°.

关键词

robot system;precision assembly;visual servoing;aligning;Grasping

授权许可

© The Author(s) 2019
This article is distributed under the terms of the Creative Commons Attribution 4.0 License (http://www.creativecommons.org/licenses/by/4.0/) which permits any use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access pages (https://us.sagepub.com/en-us/nam/open-access-at-sage).

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通讯作者

De Xu.Institute of Automation, Chinese Academy of Sciences, Beijing, China; University of Chinese Academy of Sciences, Beijing, China.de.xu@ia.ac.cn

推荐引用方式

Yanqin Ma,Kai Du,Dongfeng Zhou,Juan Zhang,Xilong Liu,De Xu. Automatic precision robot assembly system with microscopic vision and force sensor. International Journal of Advanced Robotic Systems ,Vol.16, Issue 3(2019)

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