Vision-guided fixtureless assembly of automotive components

被引：47
作者：
Bone, GM [1 ]
Capson, D
机构：
[1] McMaster Univ, McMaster Mfg Res Inst, Dept Mech Engn, Hamilton, ON L8S 4L7, Canada
[2] McMaster Univ, McMaster Mfg Res Inst, Dept Elect & Comp Engn, Hamilton, ON L8S 4L7, Canada
来源：
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 2003年 / 19卷 / 1-2期
关键词：
automated assembly; automotive assembly; computer vision; CORBRA; fixtureless assembly; pose measurement; programmable fixture; serro gripper; 3D vision; universal gripper; vision-guided robotics;
D O I：
10.1016/S0736-5845(02)00064-9
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
Assembly operations in many industries make extensive use of fixtures that are costly and inflexible. The goal of "robotic fixtureless assembly" (RFA) is to replace these fixtures with sensor-guided robots. hi this paper, the development of a vision-guided RFA workcell for automotive components is described. Each robot is equipped with a multiple degree-of-freedom programmable gripper, allowing it to hold a wide range of part shapes without tool changing. A 2D computer vision is used to achieve part pickup which is robust to positioning errors. A novel 3D computer vision system is used to align the parts prior to joining them. The actions of the workcell devices are coordinated using a flexible distributed object-oriented approach. Experimental results are presented for the RFA of four automotive body components. (C) 2003 Elsevier Science Ltd. All rights reserved.
引用
收藏
页码：79 / 87
页数：9
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