|WEPA55||Applications of Machine Automation with Robotics and Computer Vision in Cleanroom Assemblies||756|
Funding: This work is supported by the US DOE SBIR program under contract number DE-SC0021736.
Modern linear particle accelerators use superconducting radio frequency (SRF) cavities for achieving extremely high-quality factors (Q) and higher beam stability. The assembly process of the system, although with a much more stringent cleanness requirement, is very similar to the ultrahigh vacuum (UHV) system operation procedure. Humans, who are conventionally the operators in this procedure, can only avoid contaminating the system by wearing proper sterile personal protection equipment to avoid direct skin contact with the systems, or dropping particulates. However, humans unavoidably make unintentional mistakes that can contaminate the environment: cross contamination of the coverall suits during wearing, slippage of masks or goggles, damaged gloves, and so forth. Besides, humans are limited when operating heavy weights, which may lead to incorrect procedures, or even worse, injury. In this paper, we present our recent work on a viable and cost-effective machine automation system composed of a robotic arm and a computer vision system for the assembly process in a cleanroom environment, for example for SRF string assemblies, and more.
|DOI •||reference for this paper ※ doi:10.18429/JACoW-NAPAC2022-WEPA55|
|About •||Received ※ 30 July 2022 — Revised ※ 04 August 2022 — Accepted ※ 06 August 2022 — Issue date ※ 12 August 2022|
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