Guy Vottis

Abstract

The objective of this thesis was to design and build a work cell that utilized a robotic vision system to assemble a micro motor. The work cell design consisted of an Adept SCARA robot with a vision system, end-of-arm tooling, and a combination work surface/ lighting system. On-screen vision tools were applied to images of the parts, both binary and gray scale, to assist in accurate part recognition. Using these images, retained by the vision system as reference, the robotic vision software was programmed to enable the robot to pick up the various parts in random positions within the cell and assemble them into the micro motor. The techniques used allow for accurate identification of the parts with no concern for orientation during part presentation for pickup or placement. The micro motor assembly involves three parts, two of which mate intimately with one another and have close clearances. The whole assembly is complicated by the small size of the individual parts. The assembly of the motor was quite difficult to accomplish and had numerous problems associated with it that needed to be overcome.

Library of Congress Subject Headings

Robots, Industrial; Robot vision; Assembly-line methods--Automation

Publication Date

1997

Document Type

Thesis

Department, Program, or Center

Mechanical Engineering (KGCOE)

Advisor

Walter, Wayne

Comments

Note: imported from RIT’s Digital Media Library running on DSpace to RIT Scholar Works. Physical copy available through RIT's The Wallace Library at: TS191.8 .V688 1997

Campus

RIT – Main Campus

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