Deep Siamese Neural Network-Driven Model for Robotic Multiple Peg-in-Hole Assembly System

摘要

Robots are now widely used in assembly tasks. However, when robots perform the automatic assembly of Multi-Pin Circular Connectors (MPCCs), the small diameter of the pins and the narrow gaps between them present significant challenges. During the assembly process, the robot’s end effector can obstruct the view, and the contact between the pins and the corresponding holes is completely blocked, making this task more precise and challenging than the common peg-in-hole assembly. Therefore, this paper proposes a robotic assembly strategy for MPCCs that includes two main aspects: (1) we employ a vision-based Deep Siamese Neural Network (DSNN) model to address the most challenging peg-in-hole alignment problem in MPCC assembly. This method avoids the difficulties of modeling in traditional control strategies, the high training costs, and the low sample efficiency in reinforcement learning. (2) This paper constructs a complete practical assembly system for MPCCs, covering everything from gripping to final screwing. The experimental results consistently demonstrate that the assembly system integrated with the DSNN can effectively accomplish the MPCC assembly task.