Study on the Integration of Six-Axis Manipulator and Image Recognition

• Main Authors: Yu,Chun-Le, 余俊樂
• Other Authors: 陳明飛
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/8dmvn6

碩士 === 國立彰化師範大學 === 機電工程學系 === 106 === The features of most 3C component assembly are light weight, large quantities, higher accuracy and good product quality required and so on. Taking the relay assembly of small and medium business in Taiwan as an road map, its industrial features are large volume production and labor intensive industry too. Due to the impact of a declining birthrate and the trend of Industry 4.0, this type of industry must be fully automated or even smart is required. The purpose of this study is to study the integration of six-axis manipulator and image recognition. Firstly, a camera is installed on the six-axis manipulator and then a set of relay terminal and bottom plate image detection system is designed. By using of the image processing such as filter, binary, image morphology, canny edge detection algorithm, Hough transform method, etc., the center coordinates and deflection angle of the relay terminal and the bottom plate are detected and obtained. Finally, the six-axis manipulator can automatically be loading and unloading the relay terminals and the bottom plate using image recognition to achieve automatic identification.