Automatic factories have become the trend nowadays. In the applications of the automated production line, mobile robots play an important part of connecting among workstations. In this paper, a mobile robot with visio...
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ISBN:
(纸本)9781538666630
Automatic factories have become the trend nowadays. In the applications of the automated production line, mobile robots play an important part of connecting among workstations. In this paper, a mobile robot with vision system was developed for the transportation, gripping and identification. First, the structure of mobile platform is combined with extrusion, aluminum board and Mecanum wheel and digital signal processor (DSP) is adopted as the main controller. A long trip three-axis robot is constructed by the three sliders on the mobile platform. It can let the robot arm to grip object from the large area. Finally, the image is processed by the vision of raspberry PI on the robot. Vision system can identify mark and selects mission to command the robot move agilely in designation region. Finally, the basic movements and missions required for the storage car can be done efficiently.
Because of many advantages, such as single-sided riveting and no welding, blind rivet nuts are widely used to fasten various metal sheets and pipes. However, fixing the blind rivet nut to the base material is mainly a...
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Because of many advantages, such as single-sided riveting and no welding, blind rivet nuts are widely used to fasten various metal sheets and pipes. However, fixing the blind rivet nut to the base material is mainly accomplished by manual riveting and robot riveting based on teaching-playback. In order to realize automatic riveting without teaching, this paper proposes a robot automatic riveting method based on machine vision. Firstly, with the help of the light source that increases the difference between the foreground and the background, a binarization method based on morphology is designed to remove lots of useless information in the image. Then, an improved EDCircles algorithm based on the geometric properties of circular arcs proposed to detect circles in the binary image, which also realizes the detection of the head circles of the nut. Finally, in order to obtain the precise position of the nut, an optimization method for the inner circle of the nut is designed. Experimental results show that this method has a high nut detection rate, good positioning accuracy and efficiency, which indicates that it can be used in practical applications.
Drilling is a chip machining process widely used in manufacturing. The term drilling includes all methods for making cylindrical holes in a work piece with chip cutting tools. There are many applications where drillin...
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Drilling is a chip machining process widely used in manufacturing. The term drilling includes all methods for making cylindrical holes in a work piece with chip cutting tools. There are many applications where drilling is used, such as drilling holes in PCBs. robotic systems are used today to perform the drilling process. A problem that affects the use of these systems is the drilling sequence, as there are usually a number of points to visit. The determination of the drilling sequence is similar to the problem of synchronization of movement and travel time. The main objective is to optimize the time and trajectory of the three axes robot equipped with an automatic drill that seeks the best performance. In this paper, we have built a genetic optimization and problem solving algorithms to shorten the machining time to drill a given group of holes and reduce machining costs in order to improve the efficiency of the machining process as well robotic machining with three axes without degradation of the precision of the movement. The results of the experiments show that the proposed approach is feasible and practical. It is particularly useful in planning and scheduling systems for real-time manufacturing processes.
Miniature robots have the ability to mimic motion of animals such as walking, rolling, climbing, jumping and flying techniques. The micro-robots are used mainly to manipulate objects, survey areas that are inaccessibl...
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ISBN:
(纸本)9781479943159
Miniature robots have the ability to mimic motion of animals such as walking, rolling, climbing, jumping and flying techniques. The micro-robots are used mainly to manipulate objects, survey areas that are inaccessible, risky to operators such as building or offshore structure for cracks and damage. In this paper, a robot with climbing ability is designed and built for vertical structure inspection which requires moving on corners. The proposed robot using an electro-adhesion method is able to transit from floor to vertical wall while performing wall-climbing. In-house built electroadhesive for the climbing robot is tested and has shown some good results in adhesion during the tests.
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