| High-Precision Automated 3-D Assembly With Attitude Adjustment Performed by LMTI and Vision-Based Control | |
Shen, Fei1,2 ; Wu, Wenrong1,3; Yu, Dahai1,3; Xu, De2; Cao, Zhiqiang4
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| Source Publication | IEEE-ASME TRANSACTIONS ON MECHATRONICS
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| 2015-08-01 | |
| Volume | 20Issue:4Pages:1777-1789 |
| Subtype | Article |
| Abstract | In this paper, a fully automated microassembly methodology is proposed to assemble a slice micropart into a groupware in three-dimensional (3-D) space with the requirement of attitude adjustment. To accurately acquire the attitude of the slice micropart, we proposed an automated measurement method based on a laser triangulation measurement instrument (LTMI) guided by microscopic vision as well as an accurate calibration method for the telecentric vision system based on nonlinear damping least square method. To achieve automatic assembly, a three-stage microassembly strategy is presented: 1) attitude adjustment of the groupware based on multimicroscopic vision regarding the slice micropart's attitude as the target; 2) coarse-to-fine alignment of the slice micropart to the groupware in 3-D space on the basis of LTMI and microscopic vision; 3) remove microgripper of slice micropart until it is completely glued. Fully automated microassembly experiments are conducted, and the results demonstrate the reasonability of proposed approaches. The task has been performed with the following accuracy: 3 mu m for the center position error, 2 mu m for the depth error and 0.3 degrees for the attitude error. |
| Keyword | Attitude Measurement Microassembly Multi-microscopic Vision Control Telecentric Lens Calibration Three-dimensional (3-d) Alignment |
| WOS Headings | Science & Technology ; Technology |
| DOI | 10.1109/TMECH.2014.2354261 |
| WOS Keyword | MICROMANIPULATION ; ACCURACY ; CAMERA |
| Indexed By | SCI |
| Language | 英语 |
| WOS Research Area | Automation & Control Systems ; Engineering |
| WOS Subject | Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical |
| WOS ID | WOS:000359252300030 |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.ia.ac.cn/handle/173211/8913 |
| Collection | 复杂系统管理与控制国家重点实验室_先进机器人 |
| Affiliation | 1.China Acad Engn Phys, Laser Fus Res Ctr, Mianyang 621900, Peoples R China 2.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China 3.China Acad Engn Phys, Lab Precis Mfg Technol, Mianyang 621900, Peoples R China 4.Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, Peoples R China |
| Recommended Citation GB/T 7714 | Shen, Fei,Wu, Wenrong,Yu, Dahai,et al. High-Precision Automated 3-D Assembly With Attitude Adjustment Performed by LMTI and Vision-Based Control[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2015,20(4):1777-1789. |
| APA | Shen, Fei,Wu, Wenrong,Yu, Dahai,Xu, De,&Cao, Zhiqiang.(2015).High-Precision Automated 3-D Assembly With Attitude Adjustment Performed by LMTI and Vision-Based Control.IEEE-ASME TRANSACTIONS ON MECHATRONICS,20(4),1777-1789. |
| MLA | Shen, Fei,et al."High-Precision Automated 3-D Assembly With Attitude Adjustment Performed by LMTI and Vision-Based Control".IEEE-ASME TRANSACTIONS ON MECHATRONICS 20.4(2015):1777-1789. |
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| 2015-High-Precision （1295KB） | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | View Download | |
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