Collaborative Robot in Solder Paste Dispenser Application

Currently, Bosch Thermotechnology SA, in Aveiro, is working on the development of new processes of industrialization, specifically in the development of a core process for applying solder paste points in the combustion chambers. This dissertation is part of this context, taking place in a laboratory environment in the workshop dedicated to develop new processes, where it is possible to build prototypes and test setups to validate the new concepts. In particular, it will consist in designing, implementing and testing a solution for the problem referred above, making use of, among other technologies, a collaborative robot and an artificial vision system. The use of industrial robots has been growing in the last decades in numerous applications in factories, with the purpose of replacing operators who are tasked with non-ergonomic work. These robots are also use in monotonous operation which are uncomfortable repetitive or with the need of high accuracy. However, robots are limited by their programming, meaning inability to adapt to any change in a task, or by their degrees of freedom, which prevents precise manipulation with a large range of motion. A human-robot interaction breaks through these barriers, increasing flexibility and adaptability of workplaces, with the accuracy of the robot and the cognitive capabilities of the human. This project was developed mainly in a simulator, the VREP, where the work scenario was completely simulated, with the integration of a collaborative robot UR5 and a vision camera in its gripper. All image processing required was developed to locate the exact position to apply solder paste points, and also it was developed a triangulation algorithm to extract the depth of the points detected, using two 2D images taken in orthogonal positions. This algorithm intends to improve the quality of the process, by locating the points with more accuracy. This interaction between the robot and the human aims to increase the speed of the process and its effectiveness. In addition it is expected to reduce the total cost of this operation (applying solder paste points in the combustion chambers)