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High precision assembly and efficient dispensing approaches for millimeter objects

文献类型：期刊论文

作者Li, Ying1,2; Zhang, Dapeng1,2; Xu, De1,2
刊名INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
出版日期2019-06-19
卷号16期号:3页码:11
关键词Orientation measurement laser range sensor fluid glue dispensing microscopic vision precision assembly
ISSN号1729-8814
DOI10.1177/1729881419857393
通讯作者Xu, De(de.xu@ia.ac.cn)
英文摘要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.
WOS关键词SYSTEM
资助项目Science Challenge Project[TZ2018006-0204] ; National Natural Science Foundation of China[61733004] ; National Natural Science Foundation of China[61673383] ; National Natural Science Foundation of China[61873266] ; National Key R&D Program of China[2018YFD0400902]
WOS研究方向Robotics
语种英语
WOS记录号WOS:000472556000001
出版者SAGE PUBLICATIONS INC
资助机构Science Challenge Project ; National Natural Science Foundation of China ; National Key R&D Program of China
源URL[http://ir.ia.ac.cn/handle/173211/25849]  
专题精密感知与控制研究中心_精密感知与控制
通讯作者Xu, De
作者单位1.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing, Peoples R China
推荐引用方式
GB/T 7714		 Li, Ying,Zhang, Dapeng,Xu, De. High precision assembly and efficient dispensing approaches for millimeter objects[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2019,16(3):11.
APA Li, Ying,Zhang, Dapeng,&Xu, De.(2019).High precision assembly and efficient dispensing approaches for millimeter objects.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,16(3),11.
MLA Li, Ying,et al."High precision assembly and efficient dispensing approaches for millimeter objects".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 16.3(2019):11.

入库方式： OAI收割

来源：自动化研究所

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