A Robotic Automatic Assembly System Based on Vision

At present, the production lines of mobile phones are mainly manual and semi-automatic. Robots are the most important tools used to improve the intelligence level of industry production. The design of an intelligent robotic assembly system is presented in this paper, which takes the assembly of screen components and shell components as examples. There are major factors restricting the application of robots, such as the calibration of diversified objects, the moving workpiece with incomplete information, and diverse assembly types. A method was proposed to solve these technological difficulties. The multi-module calibration method is used to transform the pose relationship between the robot, the conveyor belt, and the two cameras in the robot assembly system. Aiming at a workpiece moving with incomplete information, the minimum matrix method is proposed to detect the position. Then dynamic fetching is realized based on pose estimation of the moving workpiece. At last, the template matching method is used to identify the assembly area of the workpiece type. The proposed method was verified on a real platform with a LINKHOU LR4-R5 60 robot. Results showed that the assembly success rate was above 98%, and the intelligent assembly system of the robot can realize the assembly of mobile phone screens and back shells without any staff.

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The accuracy and precision of interface pressure measuring devices: A systematic review

Phlebology The Journal of Venous Disease ◽

10.1177/02683555211008061 ◽

2021 ◽

pp. 026835552110080

Author(s):

Orsolya Kokai ◽

Sharon L Kilbreath ◽

Patrick McLaughlin ◽

Elizabeth S Dylke

Keyword(s):

Systematic Review ◽

Applied Pressure ◽

Calibration Method ◽

Interface Pressure ◽

Measuring Devices ◽

Pressure Application ◽

Accuracy And Precision ◽

Major Factors ◽

No Sensor

Introduction Interface pressure measuring devices are used to assess the pressures exerted by compression. Their performance, however, has not been considered as a contributing factor to reported inconsistences in the application of compression. A systematic review was undertaken to investigate the performance of commercially available devices used to measure interface pressure. Methods Six databases were searched identifying 17 devices, grouped into five sensor categories. Results A range of methodologies assessed the devices’ accuracy and precision, including method of pressure application, device calibration and type of surface used. No sensor category outperformed the others, however some individual sensors showed higher accuracy and/or precision compared to others. Two major factors influenced the performance of a number of sensors: the amount of applied pressure and the calibration method used. Conclusion Inconsistences in the application of compression may reflect, in part, issues related to accuracy and precision of the devices used to assess compression.

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A Vision-Based Strategy for a Cost-Effective Flexible Robotic Assembly System Without Using RCC Devices and Compliant Control

Robotics and Mechatronics - Mechanisms and Machine Science ◽

10.1007/978-3-030-17677-8_2 ◽

2019 ◽

pp. 21-30

Author(s):

C. Y. Weng ◽

I. M. Chen

Keyword(s):

Cost Effective ◽

Robotic Assembly ◽

Assembly System ◽

Compliant Control

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A multiple-layer flexible mesh template matching method for non-rigid registration between a pelvis model and CT images

10.1117/12.481354 ◽

2003 ◽

Cited By ~ 4

Author(s):

Jianhua Yao ◽

Russell H. Taylor

Keyword(s):

Template Matching ◽

Ct Images ◽

Matching Method ◽

Rigid Registration ◽

Multiple Layer

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A Flexible Robotic Assembly System Combining CAD Based Localization, Compliance Control, and a Multi-Modal Gripper

IEEE Robotics and Automation Letters ◽

10.1109/lra.2021.3113626 ◽

2021 ◽

Vol 6 (4) ◽

pp. 8639-8646

Author(s):

Gal Gorjup ◽

Geng Gao ◽

Anany Dwivedi ◽

Minas Liarokapis

Keyword(s):

Robotic Assembly ◽

Assembly System ◽

Compliance Control

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Dynamic target template matching for railway catenary suspension motion detection in wind area

International Journal of Distributed Sensor Networks ◽

10.1177/1550147718797956 ◽

2018 ◽

Vol 14 (9) ◽

pp. 155014771879795 ◽

Cited By ~ 1

Author(s):

Wei Zhou ◽

Heting Xiao ◽

Zhonggang Wang ◽

Lin Chen ◽

Shaoqing Fu

Keyword(s):

Template Matching ◽

Three Dimensional ◽

Moving Target ◽

Maximum Relative Error ◽

Gradual Change ◽

Matching Method ◽

Safety Research ◽

Target Template ◽

Target Templates ◽

Dynamic Target

A dynamic target template matching method was proposed to identify railway catenary suspension movements of wind-induced vibration in wind area. Catenary positioning point was taken as the target template, which was compared with equal-sized image sequentially using the proposed matching difference. And, three-dimensional contour map of matching difference value at each sub-area was obtained, where the target pixel coordinates were determined by the minimum matching difference value. Considering the complex imaging condition, the target template was updated by the detected target image to sense the gradual change of illumination conditions like brightness and contrast. Furthermore, to eliminate detecting errors due to wind-induced camera vibration, both static and moving target templates were identified for acquiring the absolute motion of the moving target. Finally, validation test was performed with animation in PowerPoint. The calculated target displacement agrees well with theoretical motion with maximum relative error of 1.8%. And experiment application was conducted at site by analyzing the relationship between detecting displacement and wind speed. Results indicate that the proposed dynamic target template matching method can meet required engineering precision and provide an effective way for wind-vibration safety research of railway catenary system in wind area.

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