Visual-Based Automation of Peg-in-Hole Microassembly Process

被引：51

作者：

Chang, R. J. ^{[1
]}

Lin, C. Y. ^{[1
]}

Lin, P. S. ^{[1
]}

机构：

[1] Natl Cheng Kung Univ, Dept Mech Engn, Tainan 70101, Taiwan

来源：

JOURNAL OF MANUFACTURING SCIENCE AND ENGINEERING-TRANSACTIONS OF THE ASME | 2011年 / 133卷 / 04期

关键词：

microassembly; peg-in-hole; visual servo; automation; SYSTEM; TRACKING; DESIGN;

D O I：

10.1115/1.4004497

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

An automatic visual-servo microassembly system is installed and tested. With a compliant polyurethane microgripper, a visual-servo system is implemented for micropeg alignment, micropeg transportation, and peg-in-hole assembly. The microassembly process is controlled by developing dynamic position-based servo through image calibration, regional-scanning with edge-fitting, and shadow-aided positioning algorithm. The main specifications of the system are gripping range of 60-90 mu m, working space of 7 mm x 5.74 mm x 15 mm, and system bandwidth of 25 Hz. In performance test, cylindrical copper micropegs of diameter 80 mu m and 88 mu m are automatically aligned, gripped, transported, and assembled to a stainless rod with a mating hole of 100 mu m. [DOI: 10.1115/1.4004497]

引用

页数：12

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