What is it about?
The reliability of the transmission system hinges significantly on the assembly quality of its main component, the large gear structures. However, the traditional approach employing manual lifting presents a host of challenges, such as high assembly complexity and lowered efficiency, rendering the overall assembly process notably arduous. In this study, a large gear structure assembly method based on uncalibrated image visual servo guidance is proposed. Comprising three modules, the approach involves constructing a task function for projective homography, estimating the image Jacobian matrix, and designing an adaptive servo controller. This methodology facilitates the mapping of changes in gear images to the motion of the end-effector in the parallel mechanism. Consequently, the system dynamically guides the end-effector to achieve the required attitude adjustments in the gear assembly in response to changes in the image features. Experimental results demonstrate that the method proposed surpasses alternative approaches, simultaneously exhibiting a significant enhancement in assembly efficiency. The method has a wide application prospect in the field of automated assembly of large gear structures.
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Why is it important?
The main contributions of this paper can be summarised as follows: (1) A improved task function for projective homography is introduced, aiming to significantly minimize the error associated with pixel point matching within the homography matrix, thereby enhancing robustness. (2) A Kalman filter Jacobi matrix estimator with memory attenuation is designed, incorporating an exponential attenuation factor to mitigate external noise interference. This improvement contributes to heightened system accuracy and increased resistance to interference. (3) An adaptive servo controller, employing a Q-learning framework, is advanced to uphold system precision while concurrently enhancing servo efficiency. (4) Experimental validation shows the excellent performance of the proposed method in terms of both efficiency and accuracy. This approach offers a pioneering solution to the intricate challenge of positioning and assembling gears or other rotary components.
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This page is a summary of: Large gear structure assembly method based on uncalibrated image visual servo guidance, Review of Scientific Instruments, December 2023, American Institute of Physics,
DOI: 10.1063/5.0177035.
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