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.
出处
《仪表技术与传感器》
CSCD
北大核心
2016年第7期115-119,共5页
Instrument Technique and Sensor
基金
国家863计划资助项目(2009AA04Z167)
关键词
微装配
亚像素
最小二乘法
位姿调整
micro-assembly
subpixel
least square method
posture adjustment
