Abstract
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.
Highlights
The motivation of this article is to develop high precision alignment and efficient dispensing strategies for millimeter objects based on microscopic vision and laser range sensor
The main contribution of this work is the high precision alignment and efficient dispensing approaches for millimeter objects based on microscopic vision and laser range sensor
An orientation measurement method based on laser range sensor is developed to measure the norm vector of upper surface
Summary
The motivation of this article is to develop high precision alignment and efficient dispensing strategies for millimeter objects based on microscopic vision and laser range sensor. In order to achieve precision orientation alignment, a novel orientation measurement method is proposed based on laser range sensor. It consists of a four-DOF adjusting platform, a three-DOF manipulator, a five-DOF manipulator, three microscopic cameras, a laser range sensor, a dispenser, a high precision force sensor, corresponding lighting system, and a host computer. The calibration items include image Jacobian matrices, the displacement vector VL in fM3g between the laser range sensor and the camera 1, and the transformation matrix between the movements in fMAg and the forces in fFg. The image Jacobian matrices are used to adjust the pose of components. VA can be converted to the image space of cameras 2 and 3 as
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