Timofey Dragun, Seth Mascaro, J. Blanchard, Vedang Chauhan
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引用次数: 0
摘要
工业自动化是一个突出的过程，已经存在了很多年，并且还在继续发展。自动化的一个重要方面是工业机器人。本文主要研究电路板的自动化装配过程。组件的组件被描述和识别，以及一个完整的组件显示与3D打印组件。除了iRVision几何模式匹配(GPM)工具外，还记录和讨论了重要的相机设置步骤，该工具用于教相机如何查找零件。该流程首先使用ROBOGUIDE仿真软件进行开发，一旦验证，该程序将在FANUC LR Mate 200iD/4s物理机器人上实施。通过物理机器人和ROBOGUIDE模拟完成了试运行，并对数据进行了分析以确定系统性能。将物理机器人与ROBOGUIDE仿真进行比较，发现物理机器人在零件检测方面可以表现得与仿真一样好，但在速度方面则受到影响。在投入资金在现实世界中实现机器人工作单元之前，虚拟软件中的仿真是一种快速简便的方法来可视化和分析机器人工作单元。
Industrial automation is a prominent process that has been around for many years and is continuing to evolve. An important aspect of automation is industrial robots. This paper focuses on an automated circuit board assembly process. Components of the assembly are described and identified, as well as a completed assembly is shown with 3D printed components. Important camera setup steps are documented and discussed in addition to the iRVision Geometric Pattern Matching (GPM) tool which is used to teach the camera how to find parts. The process was first developed using ROBOGUIDE simulation software, once validated the program was implemented on a physical FANUC LR Mate 200iD/4s robot. Trial runs were completed with both the physical robot and the ROBOGUIDE simulation, with the data being analyzed to determine the system performance. Comparing the physical robot to the ROBOGUIDE simulation has revealed that the physical robot can perform as well as the simulation in terms of part detection, but suffers when it comes to speed. Simulation in the virtual software is a quick and easy way to visualize and analyze the robotic work cell before investing money into implementing it in the real world.
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