Visual-based automation of peg-in-hole microassembly process

R. J. Chang, C. Y. Lin, P. S. Lin

Research output: Contribution to journalArticlepeer-review

34 Citations (Scopus)


An automatic visual-servo microassembly system is installed and tested. With a compliant polyurethane microgripper, a visual-servo system is implemented for micropeg alignment, micropeg transportation, and peg-in-hole assembly. The microassembly process is controlled by developing dynamic position-based servo through image calibration, regional-scanning with edge-fitting, and shadow-aided positioning algorithm. The main specifications of the system are gripping range of 60-90 μm, working space of 7 mm × 5.74 mm × 15 mm, and system bandwidth of 25 Hz. In performance test, cylindrical copper micropegs of diameter 80 μm and 88 μm are automatically aligned, gripped, transported, and assembled to a stainless rod with a mating hole of 100 μm.

Original languageEnglish
Article number041015
JournalJournal of Manufacturing Science and Engineering, Transactions of the ASME
Issue number4
Publication statusPublished - 2011 Aug 26

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Mechanical Engineering
  • Computer Science Applications
  • Industrial and Manufacturing Engineering

Fingerprint Dive into the research topics of 'Visual-based automation of peg-in-hole microassembly process'. Together they form a unique fingerprint.

Cite this