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Prethodno priopćenje
https://doi.org/10.17559/TV-20160922092849

No Clamp Robotic Assembly with Use of Point Cloud Data from Low-Cost Triangulation Scanner

Marcin Suszyński   ORCID icon orcid.org/0000-0001-7926-0574 ; Poznan University of Technology, ul. Piotrowo 3, 60-965 Poznan, Poland
Jakub Wojciechowski   ORCID icon orcid.org/0000-0002-1979-1506 ; Poznan University of Technology, ul. Piotrowo 3, 60-965 Poznan, Poland
Jan Żurek ; Poznan University of Technology, ul. Piotrowo 3, 60-965 Poznan, Poland

Puni tekst: engleski, pdf (1 MB) str. 904-909 preuzimanja: 161* citiraj
APA 6th Edition
Suszyński, M., Wojciechowski, J. i Żurek, J. (2018). No Clamp Robotic Assembly with Use of Point Cloud Data from Low-Cost Triangulation Scanner. Tehnički vjesnik, 25 (3), 904-909. https://doi.org/10.17559/TV-20160922092849
MLA 8th Edition
Suszyński, Marcin, et al. "No Clamp Robotic Assembly with Use of Point Cloud Data from Low-Cost Triangulation Scanner." Tehnički vjesnik, vol. 25, br. 3, 2018, str. 904-909. https://doi.org/10.17559/TV-20160922092849. Citirano 21.11.2019.
Chicago 17th Edition
Suszyński, Marcin, Jakub Wojciechowski i Jan Żurek. "No Clamp Robotic Assembly with Use of Point Cloud Data from Low-Cost Triangulation Scanner." Tehnički vjesnik 25, br. 3 (2018): 904-909. https://doi.org/10.17559/TV-20160922092849
Harvard
Suszyński, M., Wojciechowski, J., i Żurek, J. (2018). 'No Clamp Robotic Assembly with Use of Point Cloud Data from Low-Cost Triangulation Scanner', Tehnički vjesnik, 25(3), str. 904-909. https://doi.org/10.17559/TV-20160922092849
Vancouver
Suszyński M, Wojciechowski J, Żurek J. No Clamp Robotic Assembly with Use of Point Cloud Data from Low-Cost Triangulation Scanner. Tehnički vjesnik [Internet]. 2018 [pristupljeno 21.11.2019.];25(3):904-909. https://doi.org/10.17559/TV-20160922092849
IEEE
M. Suszyński, J. Wojciechowski i J. Żurek, "No Clamp Robotic Assembly with Use of Point Cloud Data from Low-Cost Triangulation Scanner", Tehnički vjesnik, vol.25, br. 3, str. 904-909, 2018. [Online]. https://doi.org/10.17559/TV-20160922092849

Sažetak
The paper shows the clamp-less assembly idea as a very important one in the modern assembly. Assembly equipment such as clamps represent a significant group of industrial equipment in manufacturing plants whose number can be effectively reduced. The article presents the concept of using industrial robot equipped with a triangulation scanner in the assembly process in order to minimize the number of clamps that hold the units in a particular position in space. It also shows how the system searches for objects in the point cloud based on multi-step processing algorithm proposed in this work, then picks them up, transports and positions them in the right assembly locations with the use of industrial robot manipulator. The accuracy of the positioning of parts was also examined as well as the impact of the number of iterations of the algorithm searching the models in the point cloud on the accuracy of determining the position of the objects. The tests show that presented system is suitable for assembly of various items as plastic packaging and palletizing of products. Such kind of system is the basis for modern, fully flexible assembly systems.

Ključne riječi
assembly; robotics; 3D-scanning

Hrčak ID: 202638

URI
https://hrcak.srce.hr/202638

Posjeta: 287 *