Study of Control Strategy and Software Architecture Based on Flat Type Small Parts Assembly

Abstract

For different sizes of flat type small parts assembly problems, the assembly control strategy and software architecture are analyzed and machine vision is introduced into the micro-assembly work. Proposeing "Look and move + Visual servo" micro-assembly control mode, adopted by the interfacial layer, data layer and logic layer composed of layered software architecture, we designed a vision-based vacuum adsorption micro-assembly platform, and it can achieve different sizes of small parts precision assembly. The real-time of software and framework class inheritance, using object-oriented applications programming methods and integrate Halcon vision algorithm library is analyzed, eventually the process control system design is completed. By five flat type small parts consisting of micro components, a series of eight assembly experiment and precision measurements of its key indicators are conducted, It is shown that:The error of micro component concentricity and parallelism basically meet the accuracy requirements of assembly. The proposed control method can effectively for other micro-assembly system, and has a good real-time performance, reusability and human-computer interaction.