Experimental research on tightening assembly of dual arm collaborative robot based on machine vision

Aiming at the complicated assembly process of engine conrod and the high frequency accidents that operators are vulnerable to injury, a tightening assembly strategy of dual arm collaborative robots based on the cooperative guidance of machine vision and force sensing is proposed. On the basis of establishing the kinematics model of the dual arm collaborative robots, the robots first carries out machine vision identification and guidance through the left arm, and drives the right arm to adjust the position and pose and coarse positioning of the servo mechanism under the PID algorithm; In the precise positioning stage, the torque and tightening can work together through the force sensing information feedback at the end of the robot to achieve the precise force sensing adjustment of the tightening process; finally execute the mechanical tightening assembly program, and achieve the completely tightening process of the engine conrod through the above assembly strategy, which would improve the efficiency and safety of assembly process. The experimental results show that the assembly and installation process of the dual arm collaborative robots under the guidance of machine vision and force sensing is controllable in the whole process, and the assembly results meet the requirements of the production process, which can be well implied in the serial production.