Selecting and designing grippers for an assembly task in a structured approach. (19th March 2021)

• Record Type: Journal Article
• Authors: Xu, Jingren; Wan, Weiwei; Koyama, Keisuke; Domae, Yukiyasu; Harada, Kensuke
• Is Part Of: Advanced robotics. Volume 35:Number 6(2021)
• Page Start: 381
• Page End: 397
• Publication Date: 2021-03-19
• Subjects: Automatic gripper design -- robotic assembly -- grasping; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2020.1870047
• Languages: English
• ISSNs: 0169-1864

Abstract

ABSTRACT: In this paper, we present a structured approach to selecting and designing a set of grippers for an assembly task. Compared to current experience-based gripper design method, our approach accelerates the design process by automatically generating a set of initial design options for gripper types and parameters according to the CAD models of assembly components. We use mesh segmentation techniques to segment the assembly components and fit the segmented parts with shape primitives, according to the predefined correspondence between shape primitive and gripper type, suitable gripper types and parameters can be selected and extracted from the fitted shape primitives. Moreover, we incorporate the assembly constraints in the further evaluation of the initially obtained gripper types and parameters. Considering the affordance of the segmented parts and the collision avoidance between the gripper and the subassemblies, applicable gripper types and parameters can be filtered from the initial options. Among the applicable gripper configurations, we further optimize the number of grippers for performing the assembly task, by exploring the gripper that is able to handle multiple assembly components during the assembly. Finally, the feasibility of the designed grippers is experimentally verified by assembling a part of an industrial product. GRAPHICAL ABSTRACT: