摘要：Aiming at the problems of low manual assembly process efficiency and low yield of micro-miniature parts. A vision system based on ORB feature matching for fast coaxial alignment of micro-miniature parts automated assembly is proposed. The coaxial alignment module is the main hardware, the assembly part and the base part can be imaged in the industrial camera; the ORB features are extracted from the known part template image and the part image obtained by the vision imaging system, and the RANSAC algorithm is adopted to match the ORB features of the template image and the actual part image, the pose of parts is calculated by feature matching results. At the same time, the image coordinate system and the motion axis coordinate system are calibrated, and the motion control system is driven by the transformation matrix of the two coordinate systems to complete the assembly between the assembly part and the base part. The assembly experiment shows the system can complete the automated assembly of micro-miniature parts.
