配网带电作业机器人安全遥操作的辅助控制策略

针对配网带电作业遥操作中遥操作人员的不正确操作以及作业空间复杂所导致的潜在安全问题,提出了建立交互式虚拟夹具辅助遥操作的控制策略。该策略在机械臂末端增加了多维力传感器,使得遥操作人员在操作时能获得机械臂和环境接触时的力感觉,便于进行轴孔装配类作业。同时,采用双目立体相机扫描作业场景构成环境三维模型,生成引导机械臂运动的虚拟夹具来产生相应约束力辅助约束/引导遥操作人员完成精细化的作业任务。     

多尺度异型零件精密装配关键技术研究与系统开发

随着对操作的精度和可靠性的要求越来越高,精密装配技术与系统近年来受到广泛的关注。本文分析了自动精密装配领域的国内外研究现状,结合以点火靶装配为应用对象的多尺度异型零件精密装配研究,从装配对象、装配系统、系统标定、控制策略以及装配实现等方面探讨精密微装配的发展、关键技术及研究成果。     

遥操作机器人客户端仿真系统的设计与实现

该文面向空间机器人遥操作,应用三维预测仿真和遥传感器反馈监控技术,建构了遥操作机器人的客户端仿真系统.实现了简单的柔顺力控制操作的仿真.操作员通过仿真系统面向的虚拟环境离线编程,实现对遥操作任务的预演.同时基于遥传感器反馈信息的识别,实现了对远端任务执行进程的监控和状态流图显示.在模拟的大时延情况下,操作员能够在客户端通过局域网控制实验室中的机器人完成精密插孔装配等任务.为进行大时延遥操作提供了算法实验平台.     

面向亚毫米级微粒的遥操作系统设计

本文介绍了适用于微靶装配的遥操作机器人系统及其关键技术，包括对亚毫米级微粒物体进 行微操作的真空吸附装置的工作原理、构成和控制;适合于微靶装配要求的高精度机械手的 运动控制;以及基于网络的遥操作技术等．     

具有虚拟力觉导引功能的机器人网络遥操作系统

为实现机器人网络遥操作系统中从端机器人和被抓取目标接触前的力觉感知效果,提出了具有虚拟力 觉导引功能的机器人网络遥操作系统控制方法．利用单目视觉技术获得末端执行器相对于被抓取目标的位姿信息, 并将此信息转换为操作者相对敏感的力反馈信息,引导操作者为远端机器人系统提供合适的控制命令,控制机器人 达到期望的位姿．利用手腕相机和人工目标搭建了演示实验系统,并分别进行了机器人位置和姿态遥操作控制实 验．实验结果表明,机器人遥操作系统的可操作性和操作效率有了明显提高．     

基于机器视觉的卫星天线模块自动精密装配技术

针对卫星天线模块自动化精密装配需求,介绍一种基于机器视觉的机器人自动精密装配方法。通过6自由度工业机器人和相机建立Eye-in-Hand和Eye-to-Hand混合的自动装配系统,对系统进行手眼标定,从而确定相机、机器人、工具之间的相互位置关系,通过图像处理获取装配位置像素坐标,并通过坐标变换将像素坐标点转换为机器人基坐标点,控制机器人完成天线模块自动装配。装配时通过Eye-to-Hand和Eye-in-Hand系统分别直接定位天线模块上连接器公头和母头位置,消除连接器安装位置误差和模块外壳加工尺寸误差对定位精度的影响,该系统通过一次标定即可实现机器人末端工具在距目标物体垂直距离相同情况下X/Y任意位置的定位功能。实验结果证明该方法准确可行,所设系统满足50μm装配公差天线模块的自动精密装配要求。     

精密摆组件装配设备自标定方法

精密装配设备中各运动滑台存在安装误差,影响装配精度;目前,多采用装配设备内部集成的显微视觉系统,借助特制标定板进行线性标定;但该方法中的误差参数顺序标定,解算具有关联性,无法避免误差传递与累积的问题,且精密装配设备空间有限,标定板一般较难安装;为此,基于精密摆组件装配设备,提出一种通用自标定方法,该方法不借助标定板,仅需要在装配作业空间中由视觉系统跟踪设备自身固定特征的若干任意点位,再结合粒子群优化（Particle Swarm Optimization, PSO）完成误差参数的统一求解,最后根据推导的误差补偿模型实现误差补偿;实验证明,该方法与线性标定相比精度及稳定性均明显提高,标定精度在5 μm以内,为精密装配设备提供了简单有效的标定方案。     

机器人插件作业的视觉导引方法研究

插件作业（parts mating）是装配机器人的一项基本作业环节．本文介绍了以双目立体视觉 实现该作业的视觉导引方法．该方法通过采用人机交互方式,借助于人的智慧,提高了图像 特征提取和匹配的准确性和可靠性、可直观准确地给出插件作业的动作参数,克服了自动视 觉计算复杂、鲁棒性差的缺点,适用于机器人遥操作作业．实验表明,基于人机交互的机器 人插件作业在立体视觉导引下是完全可行的．     

微操作机器人显微视觉系统研究

分析了显微视觉系统的基本原理和组成，给出了其在微操作领域的应用现状，提出了显微视觉系统亟待解决的一些关键问题，并对这些关键问题的解决方案进行了探讨。提出并设计了一种面向亚毫米级微零件装配的基于正交方式实现的立体显微视觉方案，形成对三维微装配空间的立体监视，系统的精度为2．5μm，满足了微装配要求。     

遥操作视觉手势交互映射方法研究

视觉手势技术的发展，极大地促进了遥操作技术的发展。作为虚拟现实技术的交互手段，视觉手势技术一直追求沉浸感，与用户真实操作的体验保持一致。从交互效率的角度出发，探求不同映射方法对手势操作目标点击任务的影响，提出了基于速度和操作方向的自适应映射方法，并设计实验探究证明了这种映射方法相较传统的视觉手势固定映射方法，在任务完成速度方面实现了28.6%的提升；在不同方向点击任务操作稳定性方面实现了34.8%的提升。自适应映射方法明显提高了交互效率和操作的稳定性，可以应用于遥操作控制端的交互。     

基于传感器信息的机器人精密装配作业分析

介绍了一个应用力传感器组成的智能机器人精密装配作业的宏／微操作系统，它能够完成一般凸形销孔零件沿任意方向的精密装配作业。     

Hybrid universal handling systems for micro component assembly

Highly sophisticated machining techniques make it possible to manufacture ultra precise micro components as small as 100 μm3. These micro components are normally mounted onto larger macroscopic components before being incorporated into, e.g., medical, telecommunication or sensor technology products. In view of the highly inflexible systems currently available, the work carried out by the Fraunhofer IPT with funding from the SFB 440 focuses on the development of a hybrid, universally applicable fine positioning system. The system consists of an assembly head which, with the aid of an integrated six-axis fine positioning unit and an integrated sensor unit for referencing the assembly position, gives a conventional positioning system such as an articulated robot arm the ability to perform highly precise micro assembly processes. This provides the context for the development work carried out by the Fraunhofer IPT into assembly head design concepts. The first step involved investigating the positioning behavior of a conventional articulated robot arm, and then analyzing the demands placed on the assembly head. This is followed by the development and optimization of the miniaturized guidance, actuator and sensor components that are needed for the construction of a robust, highly precise six-axis fine adjustment system. The result of this work includes a set of linear guides, the size of a matchbox, with air bearings. The prototype guides set up at the Fraunhofer IPT have a non-contact interface, which makes it possible to convey compressed air without friction or force.     

基于符号的装配建模方法研究

在以装配符号的定义实现产品装配设计语义抽象表达的基础上，对产品装配建模过程中装配语义的表达、装配语义与装配约束的转化及维护技术进行研究．提出基于装配符号的约束规则集描述，实现产品装配设计信息的传递，并采用装配符号关系图对产品装配设计语义与约束进行动态维护．通过产品装配信息从抽象到具体、从模糊到精确的转化，实现产品装配设计系统对抽象、模糊、动态关联的产品装配设计信息的表达、传递和维护．     

基于汇编语言的精确延时的实现

在单片机系统的很多应用中都需要用到延时程序,采用汇编语言来编写延时程序,可以精确地控制延时时间,生成的程序代码少,提高执行效率.运用汇编语言设计了一个10ms精确延时子程序,并通过Keil软件进行模拟运算,结果证明该程序达到了预期的效果.     

Development of assembly system with quick and low-cost installation

ABSTRACT

Cell production systems for assembly operations generally require tool changes using several hands and a customized work table. The initial setting and resetting of the assembly system are costly. We implemented a system comprising the use of only two hands and without the requirement of tool changers. In addition, multiple sensors are used to perform tasks robustly to avoid errors. The peg-in-hole task is performed robustly against errors without the precise positioning of objects. The objective is to develop a system that is lean and agile and can be set up quickly. We evaluate this system based on the task-board and assembly tasks during the assembly challenge in the industrial robotics category of the World Robot Summit 2018.     

Fuzzy logic control of automated screw fastening

In this paper, we present an intelligent control strategy for automated screw fastening. In automated assembly processes, there are often found dedicated stations for various types/sizes of screw fastening. Problems found in current processes include cross-threading, screw jamming, slippage and the need to apply precise torque. The intelligent controller developed here supervises the integrated process of an electric driver mounted on a robotic positioning system to fasten screws. The new scheme controls continuously the motion and driving stages to avoid process-caused failures, to achieve a desired precise torque and to detect bad parts at early stages of the assembly. Initial simulation results are encouraging.     

汽车变速箱零部件装配自动测量系统

汽车变速箱装配过程中部分零部件分装涉及到选择调整垫片的过程,垫片尺寸是否合适将直接影响变速箱整体的装配质量,为了满足新型号变速箱的数字化生产需求以及提高生产系统的工作准确性,需要将人工经验为主导的传统制造模式向轻量化、智能化的新型制造模式转化.本文结合某企业MQ250变速箱装配线的具体需求,为了提高生产现场的数字化程度以及对测量任务的管理能力,设计并实现了一套新型的变速箱零部件装配的测量系统.首先根据相对测量的原理,设计了测量模块,并分析了测量模块最优化的问题,最终通过最小二乘法实现了测量模块的优化.经过实际生产情况表明,本测量系统适应了MQ250变速箱零部件的装配需求,保证装配效率的情况下提升了整体装配质量,提高了装配生产线的数字化水平.     

Programming and control of a two-hand assembly system

This paper presents the implementation of an original cooperating system for precise assembly operations. The whole mechanical architecture consists of a conventional manipulator robot and a micro-manipulator setting in parallel. The micro-manipulator used is a manipulator-gripper in a left hand configuration. The mechanism of the manipulator-gripper was designed to achieve active or passive fine compliant motions. Some details of its technology are given. A real-time distributed computer system has been developed for coordinated-motion control. Programming assignments are explained. For complex assembly tasks, automatic fine motion strategies are obtained by a rule-based expert system.     

虚拟环境中组合夹具装配库的应用研究

虚拟环境为组合夹具的虚拟装配提供了有效的技术手段。针对组合夹具通用化、标准化的特点,采用“标记”的方法作为虚拟环境中元件精确定位和装配对的装配关系建立的基础。“标记”具有几何意义清晰、简便高效的特点,在虚拟环境中是组合夹具元件装配关系建立的几何基础,针对元件的功能表面建立“标记”,并以“标记”作为装配定位的基础,实现了虚拟环境中组合夹具的装配。系统采取夹具元件、组件、实例三层数据库结构进行管理,以标记作为约束建立装配关系,提高了设计效率,利于设计知识和设计经验的保存和在利用。在自主开发的虚拟装配系统中,对相关的方法和技术进行了实例验证。     

Optimization of a multi-Constant Work-in-Process semiconductor assembly and test factory based on performance evaluation

This paper considers a semiconductor assembly and test factory which is a three-segment-Constant Work-in-Process (CONWIP) system with overlapping machines. In the system, three types of carts circulate for meeting the physical requirements. The optimization problem in setting the suitable total Work-in-Process (WIP) level and the distribution in the three loops from the view of the trade-off between the throughput and the WIP level for the system is addressed. In the proposed model, the system is firstly modeled as a three-loop closed queue network and we propose an approximate method to evaluate the performance. The accuracy of the evaluation method was illustrated by numerical experiments, indicating that the method is fairly precise. Secondly, a Genetic Algorithm is designed to obtain near optimal results based on the performance evaluation. The semiconductor assembly and test system case as well as the application procedure were carried out in detail.