Robotic Kitting With Vision and Force-Guided Part Insertion
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Solution Overview
Problem
Existing robotic systems struggle to efficiently assemble kits of parts with varying shapes, sizes, and materials, particularly when fine motor control and precise placement are required, as these tasks often involve fragile items and tight tolerances.
Innovation Solution
A robotic kitting machine system that uses a combination of position control, force control, and computer vision to pick and place parts into corresponding slots in a tote or carrier, employing a suction-type end effector and cameras for precise alignment and insertion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If traditional robotic systems are used for kitting tasks, then automation is achieved, but precision and fine motor control are insufficient
Solution Approach 1:
The robotic system is divided into specialized modules: a robotic arm for movement, a suction-based end effector for gentle grasping, and computer vision systems for precision guidance. Each component handles specific aspects of the task, allowing the system to achieve both automation and precision that would be difficult with a monolithic robotic design.
Solution Approach 2:
Computer vision systems act as an intermediary between the robotic arm and the parts, providing real-time feedback and guidance for precise positioning. The vision system enables the robotic system to 'see' and adjust its movements, achieving human-like precision in automated operations.
2Object-affected harmful factors
If tight tolerance slots are used to protect fragile parts, then part protection is improved, but robotic insertion becomes more difficult
Solution Approach 1:
The robotic system uses dynamic control to adjust its insertion force and speed in real-time. The suction end effector provides compliant grasping that adapts to the part's position, while the robotic arm modulates its movement to gently guide parts into tight tolerance slots without damage, overcoming the insertion difficulty while maintaining part protection.
Solution Approach 2:
The system employs real-time feedback from computer vision and force sensors to monitor insertion progress and adjust parameters dynamically. This feedback loop allows the robotic system to detect when a part is接近 its target position and apply appropriate force, making insertion into tight tolerance slots feasible while protecting fragile parts.
3Adaptability or versatility
If various shapes and sizes of parts are handled, then versatility is improved, but fine motor control becomes more challenging
Solution Approach 1:
The suction-based end effector serves as a universal grasping mechanism that can handle parts of various shapes, sizes, and materials through suction force. This single multi-functional tool replaces the need for multiple specialized grippers, achieving versatility while keeping the control system manageable through standardized suction control.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system enables efficient and accurate assembly of kits without human intervention, ensuring parts are securely placed and protected from damage, even in environments with tight tolerances and fragile items.
Implementation Method 1
employing a suction-type end effector and cameras for precise alignment and insertion
Data Source
AI summary
A manifest or other data indicating a high-level objective to move a plurality of items from a source location to a destination location is received. The manifest or other data is utilized to generate a plan to pick and place the plurality of items from the source location to the destination location in a particular order and manner. A first item of the plurality of items is moved to a first location at the destination location as indicated by the manifest or other data using a robotic arm having an end effector. Force sensor information generated by a force sensor is received. The force sensor information is used to align a structure comprising the first item with an opening associated with the first location. The first item is inserted into the opening associated with the first location.