Dual-arm robot assembly system for 3C product based on vision guidance

摘要

Small part assembly has been received more and more attention recently. It is very challenging to automate small part assembly processes because of the part positioning problems, part mating related issues, and part manipulability problems etc. To facilitate the small part assembly processes, dual-arm robots have been developed. They have the advantages of flexibility and collaboration and can be used for small part assembly. In this paper we propose a small part assembly system using a dual-arm robot. In order to identify the part location, vision systems are deployed. The vision system calibration process is described. The small part assembly process is analyzed. An experimental system is constructed and experiments were performed. The experimental results demonstrate the effectiveness of our proposed system.