Interference Fit Assembly of Micro-Parts Based on Microscopic Vision and Force

Abstract

To assemble easily damaged micro-parts safely in interference fit way, the assembly process is designed and the interaction force in assembly process is analyzed. The pose of micro-parts is aligned based on calibration of three microscopic vision systems from different directions. In addition, a control strategy based on feedback of vision and force is proposed to assemble safely. In the case of two micro-parts just contact, position of micro-part is adjusted based on force information to compensate pose alignment error and keep force in safe range. When micro-part is deformed as increased contact force, position of micro-part is adjusted based on force in the interference fit process and deformation of micro-part. Experimental results demonstrate the effectiveness of proposed methods.

Vision-force guided precise robotic assembly for 2.5D components in a semistructured environment

“…By controlling the contact force and setting force ranges, precise assembly tasks can be implemented safely and stably. However, these approaches cannot recognize the target of an object without an exact determination of the location of the parts and the contact state (Liguo et al, 2004;Zhang et al, 2015).…”

“…To overcome these shortcomings and combine the advantages, methods of combining a force sensor and vision sensors have been proposed (Liguo et al, 2004;Liu et al, 2014;Wan et al, 2017;Zhang et al, 2015). They can recognize the positions of components and assemble them safely and stably.…”