平板类微小型零件的移动位姿调整
|
摘要
微小型零件移动位姿的精确定位及调整是微小型零件装配的关键。针对待装配微小型零件的特征,在搭建微装配平台的基础上,开发了相应的移动位姿识别算法,并利用高精密旋转电机实现了目标零件的位姿调整。具体方法为:对采集图像进行滤波、阈值分割、去噪以及亚像素边缘检测,得到目标零件的亚像素级边缘二值图像;利用最小二乘法线性拟合原理对提取的亚像素边界进行最小二乘直线拟合,得到待装配件与微装配系统X轴夹角;利用高精密旋转电机将待装配零件调整至与基体件偏角一致。实验结果表明,该方法能够很好地实现微小型零件的高精度位姿调整。
Precisely positioning and adjustmenting postue of the microminiature parts which is in the stage of moving is the key to successfully realize assembly. Through considering the characteristics of the microminiature parts,recognition algorithm of moving pose of the microminiature parts was developed on the basis of platform of micro-assembly system. At the same time,posture adjustment of the target parts was achieved by taking advantage of rotary motor which is highly precise. The specific method was shown as follows.Firstly,the image was processed by gaussian filter,threshold segmentation,denoising and subpixel edge detection to get the edge pixel level binary image of the target parts.Secondly,the principle of least squares linear fitting wsa used to deal with sub-pixel boundary to get the angle between the target part with X axis of micro-ssembly system. Finally,angle between target part with substrate part was adjusted to be parallel by using rotary motor with high precision.The experimental results show that the method can adjust posture of microminiature parts to be highlly precise very well.
Precisely positioning and adjustmenting postue of the microminiature parts which is in the stage of moving is the key to successfully realize assembly. Through considering the characteristics of the microminiature parts,recognition algorithm of moving pose of the microminiature parts was developed on the basis of platform of micro-assembly system. At the same time,posture adjustment of the target parts was achieved by taking advantage of rotary motor which is highly precise. The specific method was shown as follows.Firstly,the image was processed by gaussian filter,threshold segmentation,denoising and subpixel edge detection to get the edge pixel level binary image of the target parts.Secondly,the principle of least squares linear fitting wsa used to deal with sub-pixel boundary to get the angle between the target part with X axis of micro-ssembly system. Finally,angle between target part with substrate part was adjusted to be parallel by using rotary motor with high precision.The experimental results show that the method can adjust posture of microminiature parts to be highlly precise very well.
引文
[1]王晓东,宋洪侠,HESSLBACH J.德国微装配技术研究的几个方向[J].机械制造,2002(9):13-15.
[2]沈峰亭,魏红.基于改进Sobel算子的螺纹边缘检测[J].微计算机信息,2008,24(1):261-262.
[3]张建军,罗静.基于改进Sobel算子的表面裂纹边缘检测算法[J].合肥工业大学学报(自然科学版),2011,34(6):845-847.
[4]孙杰.移动机器人双目立体视觉研究[D].杭州:浙江大学,2010.
[5]于梦竹.基于亚像素边缘检测的图像放大算法研究与实现[D].哈尔滨:哈尔滨工业大学,2013.
[6]张起贵,张魁.基于最小二乘直线拟合的小目标检测[J].电子设计工程,2010,18(7):176-177.
[7]杨险峰,蔡少虬,杨学友.基于亚像素边缘的椭圆中心检测方法研究[J].光学仪器,2014,36(6):481-485.
[2]沈峰亭,魏红.基于改进Sobel算子的螺纹边缘检测[J].微计算机信息,2008,24(1):261-262.
[3]张建军,罗静.基于改进Sobel算子的表面裂纹边缘检测算法[J].合肥工业大学学报(自然科学版),2011,34(6):845-847.
[4]孙杰.移动机器人双目立体视觉研究[D].杭州:浙江大学,2010.
[5]于梦竹.基于亚像素边缘检测的图像放大算法研究与实现[D].哈尔滨:哈尔滨工业大学,2013.
[6]张起贵,张魁.基于最小二乘直线拟合的小目标检测[J].电子设计工程,2010,18(7):176-177.
[7]杨险峰,蔡少虬,杨学友.基于亚像素边缘的椭圆中心检测方法研究[J].光学仪器,2014,36(6):481-485.