A High-Precision Automatic Wire Wrapping Approach Based on Microscopic Vision and Force Information

摘要

This paper proposes a wire wrapping approach, which enables high-precision, fully automatic, quality controllable, and visually monitored wire wrapping by actively rotating the rod and coordinately translating the wire based on microscopic vision and force information. Viewing the wire as a one-dimensional object, the proposed paper contributes to both the precision manipulation field and the engineering utilities to fabricate precision helical structures used in many fields. The basic technical contents involved are the active rotation of the rod and the coordinated translation of the manipulator, both of which are designed to keep the relative spatial relationship and the interactive force between the rod and the wire. Extensive experiments were conducted to validate the effectiveness of the proposed method to achieve high-precision wire wrapping. Experimental results show that with discretized active rotation increment about the rod axis of 6, the local tensile deformation of the wire can be controlled within 2m error range, while the average local helical angle can be controlled within 0.3 error range with standard deviation less than 1.5.