3D vision assisted flexible robotic assembly of machine components

Ogun, Philips S.; Usman, Zahid; Dharmaraj, Karthick; Jackson, Michael R.

doi:10.1117/12.2229053

Cited by 12 publications

(6 citation statements)

References 16 publications

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“…Li i Li l  P P D (16) where DLi is the direction vector of the z-axis in {Li}. For the LDS, its rotation around the direction of the LDS does not affect the measurement results.…”

Section: MImentioning

confidence: 99%

“…It is common to obtain the poses of objects with complex structures by matching their computer aided design (CAD) models with the measured point cloud data. Ogun et al mounted a grasper and a laser scanner on an end-effector, utilized the laser scanner to measure the point cloud data of the rings and the shaft to determine their spatial pose, and then fixed the rings on the shaft with the grasper [16]. The local measurement method is limited by the sensor's measurement range and is mainly used to measure small-scale objects.…”

Section: Introductionmentioning

confidence: 99%

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Pose measurement and assembly of spacecraft components based on assembly features and a consistent coordinate system

Chen

Jiang

2022

Int J Adv Manuf Technol

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To assemble spacecraft automatically and precisely, it is vital to measure the relative spatial pose (position and orientation) of the assembly features of the spacecraft components before assembly. For large-scale spacecraft components, the global measurement method is mainly utilized to guide assembly control, and its accuracy and efficiency have ultimately failed to meet requirements. To address this issue, a novel measurement method is proposed. Since the goal is to measure the relative spatial pose of the assembly features of the spacecraft components, the proposed method measures it directly to ensure the consistency of the measurement and assembly coordinate system. This method has the advantage of high precision because it can reduce the influence of structural parameter errors and is not limited by the scale of the spacecraft components.In addition, it requires only one offline calibration, which significantly improves the efficiency of online measurement and assembly. Taking the control moment gyroscope (CMG) assembly task as an example, a measurement system and its corresponding calibration device are designed and developed. After calibration by the calibration device, the measurement system is mounted on the assembly features of the CMG to measure the relative spatial pose between the assembly features of the CMG and the assembly features of the mounted base (MB). Finally, six assembly experiments are completed according to the measurement results. The experimental results show that this method has high accuracy and can guide the robot to achieve high assembly accuracy, satisfying the assembly requirements of typical spacecraft components.

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“…Li i Li l  P P D (16) where DLi is the direction vector of the z-axis in {Li}. For the LDS, its rotation around the direction of the LDS does not affect the measurement results.…”

Section: MImentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Pose measurement and assembly of spacecraft components based on assembly features and a consistent coordinate system

Chen

Jiang

2022

Int J Adv Manuf Technol

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“…With the goal of reducing assembly time for HMLV parts, 3D-vision systems have been developed to provide flexible robotic assembly and precise workpiece positioning. Such is the case where using vision-guided assembly robots provides subtle variations in geometries and workpiece poses rather than only using limiting expensive fixtures [12]. Using matching algorithms, part CAD models and 3D point cloud data of a part position are matched by corresponding points and features to achieve object-accurate pose estimation.…”

Section: Advanced Processing Techniquesmentioning

confidence: 99%

A Survey of Smart Manufacturing for High-Mix Low-Volume Production in Defense and Aerospace Industries

Tahmina

Garcia

Geng

et al. 2022

Lecture Notes in Mechanical Engineering

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Defense and aerospace industries usually possess unique high-mix low-volume production characteristics. This uniqueness generally calls for prohibitive production costs and long production lead-time. One of the major trends in advanced, smart manufacturing is to be more responsive and better readiness while ensuring the same or higher production quality and lower cost. This study reviews the state-of-the-art manufacturing technologies to solve these issues and previews two levels of flexibility, i.e., system and process, that could potentially reduce the costs while increasing the production volume in such a scenario. The main contribution of the work includes an assessment of the current solutions for HMLV scenarios, especially within the defense of aerospace sectors, and a survey of the current and potential future practices focusing on smart production process planning and flexible assembly plan driven by emerging techniques.

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“…This method is referred to as 'surface matching technique', as it involves grouping similar surface point pairs for matching the reference with input 3D data obtained from the vision sensor. Work reported by Ogun [30] uses the surface matching technique to identify 3D objects in clutter to perform automated flexible assembly.…”

Section: Review Of the Existing Solutionsmentioning

confidence: 99%

Robotic assembly of threaded fasteners in a non-structured environment

Dharmara

Monfared

Ogun

et al. 2018

Int J Adv Manuf Technol

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Over the past two decades, a major part of the manufacturing and assembly market has been driven by the increasing demand for customised products. This has created the need for smaller batch sizes, shorter production times, lower costs, and the flexibility to produce families of products-or to assemble different parts-with the same sets of equipment. Consequently, manufacturing companies have deployed various automation systems and production strategies to improve their resource efficiency and move towards right-first-time production. Threaded fastening operations are widely used in assembly and are typically time-consuming and costly. In high-volume production, fastening operations are commonly automated using jigs, fixtures, and semi-automated tools. However, in low-volume, high-value manufacturing, fastening operations are carried out manually by skilled workers. The existing approaches are found to be less flexible and robust for performing assembly in a less structured industrial environment. This motivated the development of a flexible solution, which does not require fixtures and is adaptable to variation in part locations and lighting conditions. As a part of this research, a novel 3D threaded hole detection and a fast bolt detection algorithms are proposed and reported in this article, which offer substantial enhancement to the accuracy, repeatability, and the speed of the processes in comparison with the existing methods. Hence, the proposed method is more suitable for industrial applications. The development of an automated bolt fastening demonstrator is also described in this article to test and validate the proposed identification algorithms on complex components located in 3D space.

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3D vision assisted flexible robotic assembly of machine components

Cited by 12 publications

References 16 publications

Pose measurement and assembly of spacecraft components based on assembly features and a consistent coordinate system

Pose measurement and assembly of spacecraft components based on assembly features and a consistent coordinate system

A Survey of Smart Manufacturing for High-Mix Low-Volume Production in Defense and Aerospace Industries

Robotic assembly of threaded fasteners in a non-structured environment

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