Vision assisted robotic assembly of miniature parts

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Title: Vision assisted robotic assembly of miniature parts
Author: Vottis, Guy
Abstract: The objective of this thesis was to design and build a work cell that utilized a robotic vision system to assemble a micro motor. The work cell design consisted of an Adept SCARA robot with a vision system, end-of-arm tooling, and a combination work surface/ lighting system. On-screen vision tools were applied to images of the parts, both binary and gray scale, to assist in accurate part recognition. Using these images, retained by the vision system as reference, the robotic vision software was programmed to enable the robot to pick up the various parts in random positions within the cell and assemble them into the micro motor. The techniques used allow for accurate identification of the parts with no concern for orientation during part presentation for pickup or placement. The micro motor assembly involves three parts, two of which mate intimately with one another and have close clearances. The whole assembly is complicated by the small size of the individual parts. The assembly of the motor was quite difficult to accomplish and had numerous problems associated with it that needed to be overcome.
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Date: 1997-11

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