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Development of a best-fit algorithm for feature based assembly

机译：开发基于特征的组件最佳算法

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Traditionally, domestic water pump assembly is often carried out manually using dedicated fixed systems. These are inflexible, have long manufacturing lead time and can lead to capital bottlenecks. One way of introducing flexibility is by incorporating robots. Background literature suggested that there has been limited work on the use of flexible robot-based assembly applications. But they all required sophisticated expensive software and hardware for their implementation. The paper is mainly focused on the development of best fit algorithms for feature based assembly and a process of proving the feasibility of robotic assembly applications. This research, feature-based assembly technique was used as the main method for the assembly of the components since a feature contains much more information than just geometry. A metrology system was used to locate the component and measure the position of the assembly features before assembly. Similarly, the metrology system was used to locate features on the counter part. The acquired data was processed using a mathematical algorithm to calculate the relative component positions required for optimal assembly. The data can also be used to check for the quality of the components and to reject those outside the specification limits. The paper demonstrates that with a combination of metrology and mathematical processing algorithms can be used for the assembly of water pump components within the tolerances limits. The developed system is flexible and reconfigurable due to reduced reliance of fixtures.
机译：传统上，国内水泵组件通常使用专用的固定系统手动进行。这些是不灵活的，拥有长期制造业的交货时间，可以导致资本瓶颈。引入灵活性的一种方法是通过合并机器人。背景文献表明，有限的是使用灵活的基于机器人的组装应用程序的工作。但他们都需要复杂的昂贵的软硬件和硬件。本文主要集中在基于特征的组装的最佳拟合算法的开发和证明机器人组装应用的可行性的过程。本研究，基于特征的组装技术用作组件组装的主要方法，因为该功能含有比仅几何形状更多的信息。 Metrology系统用于定位部件并测量组装之前的组装功能的位置。类似地，测量系统用于定位柜台部分上的特征。使用数学算法处理所获取的数据以计算最佳组装所需的相对分量位置。数据还可用于检查组件的质量，并拒绝规格限制外部的质量。本文表明，使用计量和数学处理算法的组合可以用于公差限制内的水泵组件的组装。由于夹具的依赖，开发系统是灵活的，可重新配置。

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