工業機器人應用於手機微小螺絲自動鎖附之實現

The objective of this research is to tighten tiny screws of the cellphone automatically by controlling a six-axis manipulator. The manipulator cooperates with two CCD cameras to perform initial positioning control and fine positioning control, respectively. One camera is fixed on a stationary frame above screw holes and the other is installed on the end effector of the manipulator. The captured images are processed and analyzed to detect the coordinate position of the screw holes. Through coordinate transformation and calculation, the hole positions of the space coordinate are found. A fine-tuning algorithm is developed to enhance the detection accuracy of hole position. Experimental results show that the proposed fine-tuning algorithm can tighten M1 and M1.1 screws into the target holes with the manipulator.