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International Journal of Advanced Robotic Systems Volume 16 ,Issue 3 ,2019-06-19
High precision assembly and efficient dispensing approaches for millimeter objects
Research Article
Ying Li 1 , 2 Dapeng Zhang 1 , 2 De Xu 1 , 2
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DOI:10.1177/1729881419857393
Received 2019-3-1, accepted for publication 2019-5-16, Published 2019-5-16
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摘要

In this article, high precision alignment and efficient dispensing approaches for millimeter objects are proposed. Firstly, a thin component and a cylindrical component are assembled together based on microscopic vision and laser range sensor. If the normal vector of upper surface of thin component is not perpendicular to the optical axis of side camera, the region around the lower edge line will be blurred easily in image. In order to measure the orientation of the thin component with high precision, a novel method based on laser range sensor is proposed. The two components are assembled after orientation and position alignment. In order to bond the two components, the glue is dispensed into all the 16 holes on the components. For keeping the two components firm after being dispensed, the volume of glue dispensed into the 16 holes should be controlled precisely. A laser range sensor is employed to measure the volume of fluid glue. The dispensing process should be finished in a limited time for the characteristics of fluid glue that will change with time. The fluid glue should be dispensed into the hole for some times to reach the expected volume. However, it is necessary to wait a little time in order to obtain stable level of glue after the glue is dispensed into the hole. Therefore, a dual dispensing strategy with higher efficiency is developed which fully utilizes the waiting time. Experimental results validate the effectiveness of the proposed system and methods.

关键词

precision assembly;microscopic vision;fluid glue dispensing;laser range sensor;Orientation measurement

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.Research Center of Precision Sensing and Control, 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

Ying Li,Dapeng Zhang,De Xu. High precision assembly and efficient dispensing approaches for millimeter objects. International Journal of Advanced Robotic Systems ,Vol.16, Issue 3(2019)

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