Application Of SCARA Robot Based On Machine Vision

With the development and advancement of science and technology, the automation of production and fabrication has been applied in various fields. In recent years, technology of industrial robot and machine vision has developed rapidly. It can be widely applied in automatic production line in order to carry and sort, load and unload objects. SCARA (Selective Compliance Assembly Robot Arm) robot is the most widely used transfer robot because of its fast speed and high accuracy. The traditional teaching method can’t meet the flexile production system’s requirements, so it is necessary to use visual technology to discern and pitch. Finally, the visual system guides the robot to complete the grasping motion.This subject is the pre-development of an enterprise project. The core problem is to complete the positioning and grasping while the objects moving. The main research contents of this paper are as follows:The type of visual system and installation site were chosen according to the designing scheme of mechanical part, and then it was time to choose a camera which could meet the requirement of precision. This paper carried out the camera calibration experiments based on direct liner calibration method. The hardware design of visual positioning and grasping system was completed next, which included the model selection of belt conveyor, PLC system and other electronic components. After that, it was the connection of electric control cabinet. Finally, it was the software design of visual positioning and grasping system. The data exchanges between PLC system and the robot, the camera were realized by serial communication. PLC programs were designed based on modularization idea and debugged.After multiple experimenting, programs’modification and debugging, the visual positioning and grasping system was built successfully. The control scheme was feasible after testing and verifying several times. This research achievement has already been applied in relevant projects, and the combination of SCARA robot and visual system has made the production efficiency rise by big percentages. Automatic assembly line has freed the workers from heavy duplication of labor, and it has created great economic profits as well.