PublisherThe University of Arizona.
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AbstractThe Automated Universal Part Singulator is a Senior Capstone project sponsored by Bosch Rexroth Corporation. The goal of this project was to use a cartesian robot provided by the sponsor and a high-resolution camera loaned from the company CAID Automation to identify parts coming through an assembly line using computer vision and pick them up for sorting. The team has developed a custom gripping mechanism to be attached to the robot, a vibrating table for dispersing parts, and a frame enclosure to house the system and all of its components. All the software and electrical circuitry was also designed and implemented by the team. The main components are a cartesian robot, a high resolution camera, a gripping mechanism and a vibrating table. The system was powered by 480V 30A three-phase power connected to the robot and a 24 VDC power supply to power additional components. The robot (provided by Bosch) has mechanical drive motors for X, Y and Z axes and was controlled using the CtrlX Machine Controller developed by Rexroth. For demonstration, parts were fed into the vibrating table manually and the camera (looking down from above) ran a computer vision algorithm to identify the parts and give the robot coordinates to travel, pick up and sort them correctly. A gripping mechanism was designed by the team capable of handling a range of different parts under 5 cubic centimeters. The vibratory table was designed to disperse the parts and make it easier for the camera to identify. The system was designed to operate in an enclosed, factory floor environment. It can sort certain objects based on their shape and size where all processes are fully automated. The final product passed all the sponsor’s requirements and more with an innovative modular design and a user-friendly interface. Such a system is applicable for flexible part feeding solutions for numerous industries such as medical, automotive, food and beverage etc.
Degree ProgramElectrical and Computer Engineering