Montagemanipulator für die THT-Bestückung
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Date
2024
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Alternative Title(s)
Cost-efficient sensor-assisted robotic assembly – assembly manipulator for PCB assembly
Abstract
In diesem Beitrag wird die Anwendung des parallelkinematischen Manipulators Hexaglide in der THT-Bestückung untersucht. Kostengünstige optische und taktile Sensoren ermöglichen präzises Referenzieren und Einstecken von Bauteilen. Eine kraft- und bildgeregelte heuristische Steuerungsstrategie sowie Reinforcement Learning wurden erprobt und die Tauglichkeit des Hexaglide für die Bestückung wurde experimentell gezeigt.
In this article, the Hexaglide manipulator, a parallel robot, is used for automating Printed Circuit Boards (PCB) assembly of through-hole components. Low-cost optical and tactile sensors facilitate accurate component referencing and part insertion. A heuristic algorithm based on image-based visual servoing and force control as well as Reinforcement Learning are demonstrated. Experimental results validate the effectiveness of Hexaglide for PCB assembly automation.
In this article, the Hexaglide manipulator, a parallel robot, is used for automating Printed Circuit Boards (PCB) assembly of through-hole components. Low-cost optical and tactile sensors facilitate accurate component referencing and part insertion. A heuristic algorithm based on image-based visual servoing and force control as well as Reinforcement Learning are demonstrated. Experimental results validate the effectiveness of Hexaglide for PCB assembly automation.
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Keywords
Automatisierung, Mechatronik, Montage
Subjects based on RSWK
Manipulator, Bestücken, Montage, Automation, Mechatronik