With parts positively located and clamped in corresponding sub-fixtures, a multisensor vision system identifies the relative spatial positions of the components to be assembled. The control system uses this information to generate appropriate fine adjustments for the assembly trajectory of the movable sub-fixture. These adjustments achieve the required part locations prior to joining operations. Derived the analytical tools for manipulator simulation and assessment of its accuracy have been derived. Tested the load-carrying capacity and positioning accuracy of the manipulator.
Experimental results indicate high load capacity and excellent positioning accuracy.
Developed and implemented a method for the manipulator's workspace calibration and overall system integration. Developed, and successfully tested on actual production parts, a visual fixturing procedure for in-process measurement.