Manipulator motion planning in 3C assembly

With the development of information technology , mobile phone 、 Tablet, etc 3C The demand for products is increasing day by day , The demand for labor in processing factories is increasing , This is followed by an increase in costs . therefore , Through the mechanical arm 3C Automatic assembly of products has naturally become a trend .

However , It is different from the industrial manipulator which realizes automobile assembly by programming in Automobile Workshop ,3C The manipulator in assembly cannot be programmed in the same way . because 3C The assembly line has the characteristics of high frequency conversion , And 3C Most of the parts in the product are designed for manual assembly , If it is through programming, it requires a lot of time and manpower , A new kind of mechanical arm is needed to become Technology , The cost burden is too large . in addition ,3C The workers in the assembly line are basically non professional manipulator operators , In order to make the assembly manipulator widely used , The research results need to ensure the simplicity and ease of operation of workers , It can directly plan the motion of the manipulator . The research team of Shenzhen electromechanical engineering and automation major of Harbin University of Technology , To solve this problem, a demonstration programming method is proposed （PbD） This solution .

What is demonstration programming ？ Demonstration programming refers to the use of manipulator system to extract and understand effective information from human operation demonstration , Then the information is transformed into the program and parameters of the manipulator , Finally, make the manipulator complete the process of corresponding operation . because 3C The assembly action in the assembly process has a relatively small workspace , High precision , Characteristics of complex motion , And 3C Most of the workers on the assembly line are non professional operators , They know little about motion planning of industrial manipulator , therefore , In the assembly work, it is very important to obtain the hand movement data of workers without affecting the artificial and natural assembly movement . After investigation and evaluation , The team chose the optical motion capture system characterized by high precision as the first step of demonstration programming —— A tool for extracting human actions .

The team set up in a small space 6 A motion capture lens , Through these lenses, the six degrees of freedom information of the human hand in the assembly process is obtained , This information includes the position and direction information of the hand . Then through the obtained assembly demonstration action information , The motion planning control strategy of the manipulator is obtained by programming , To drive the manipulator to complete the same assembly task in the new environment .

The team is now able to effectively transfer hand movements to the manipulator , The experimental process and results are published in 2019 WRC SARA（ Included in IEEE Xplore）, It is proved that it is feasible to realize the assembly of manipulator through motion capture system . Believe in the near future , Robots can better continue 3C Assembly of products and even more sophisticated equipment , The motion capture system will play a greater role in the research and development of the robot .