An Odd-Form Electronic Component Insertion System Based on Dual SCARA

Odd-form electronic components are widely used in the electronic manufacturing industry. However, with a dated manual insertion process, several critical issues have been encountered in this field, such as poor quality, low efficiency, increasing global labor costs and manual assembly complexity, causing difficulties in electronic product development. Aiming to solve the above problems, we developed a novel odd-form electronic component insertion system based on cooperative dual SCARA, taking advantage of multiple robots with a compact structure, higher flexibility, and higher productivity. In this paper, a full description of this insertion system, including the mechanical structure, vision inspection, localization, and revision, as well as collision-free cooperation, is presented. Experiments were carried out to demonstrate the practicability of the proposed system.