Purpose

Many manufacturing sites require precision assembly. Particularly, similar to cell phones, assembly at the sub-mm scale is not easy, even for humans. In addition, the system should assemble each part with adequate force and avoid breaking the circuits with excessive force. The purpose of this study is to assemble high precision components with relatively reasonable vision devices compared to previous studies.

Design/methodology/approach

This paper presents a vision-force guided precise assembly system using a force sensor and two charge coupled device (CCD) cameras without an expensive 3-dimensional (3D) sensor or computer-aided design model. The system accurately estimates 6 degrees-of-freedom (DOF) poses from a 2D image in real time and assembles parts with the proper force.

Findings

In this experiment, three connectors are assembled on a printed circuit board. This system obtains high accuracy under 1 mm and 1 degree error, which shows that this system is effective.

Originality/value

This is a new method for sub-mm assembly using only two CCD cameras and one force sensor.

中文翻译：

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在半结构化环境中用于 2.5D 组件的视觉力引导精确机器人组装

目的

许多制造场所需要精密组装。特别是与手机类似，亚毫米级的组装并不容易，即使对人类来说也是如此。此外，系统应以足够的力组装每个部件，并避免用力过大破坏电路。与之前的研究相比，本研究的目的是组装具有相对合理的视觉设备的高精度组件。

设计/方法/方法

本文介绍了一种使用力传感器和两个电荷耦合器件 (CCD) 相机的视觉力引导精确装配系统，无需昂贵的 3D (3D) 传感器或计算机辅助设计模型。该系统从 2D 图像实时准确估计 6 个自由度 (DOF) 姿势，并以适当的力组装零件。

发现

在这个实验中，三个连接器组装在一块印刷电路板上。该系统在1毫米和1度误差下获得了高精度，表明该系统是有效的。

原创性/价值

这是一种仅使用两个 CCD 相机和一个力传感器进行亚毫米组装的新方法。