A Cost-Efficient Robotic Through-Hole Assembly System for Dual-Pin Component Insertion
- Publisher:
- Institute of Electrical and Electronics Engineers (IEEE)
- Publication Type:
- Conference Proceeding
- Citation:
- 2023 11th International Conference on Control, Mechatronics and Automation, ICCMA 2023, 2023, 00, pp. 271-277
- Issue Date:
- 2023-01-01
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| Filename | Description | Size | |||
|---|---|---|---|---|---|
| A_Cost-Efficient_Robotic_Through-Hole_Assembly_System_for_Dual-Pin_Component_Insertion.pdf | Published version | 5.64 MB |
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Although industrial robots are predetermined to overtake repetitive and physically demanding assembly tasks of human workforce while delivering constant product quality, their precision comes at high hardware costs. Efficient control strategies make lightweight robotic solutions more attractive to companies with limited resources. This is especially important for assembly tasks requiring high adaptability, sensitivity and precision such as through-hole electronics assembly (THT). In this paper, a cost-efficient system for lightweight robot THT assembly and methods for approach, search and insertion via visual and force control are presented and evaluated. Using this system we can deal with large initial deviations of electronic components in the robot gripper and successfully insert THT components with two pins into circuit board holes under tight sub-millimeter tolerances. The proposed control methods do not require training and the system can be easily reconfigured for different hardware or assembly requirements. We evaluate our system on six different electronic components with two pins such as capacitors and inductors.
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