Robotic Finger Design Workflow for Adaptable Industrial Assembly Tasks

Wolniakowski, Adam; Lindvig, Anders Prier; Iversen, Nicolai; Krüger, Norbert; Kramberger, Aljaž

doi:10.5220/0010020100690076

Cited by 2 publications

(1 citation statement)

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“…The usual workflow for automated design of finger shape [21] starts with a CAD model of a product or a set of products that should be grasped by the multi-function finger [11]. The first task is to find the optimal gripping locations on the object for an optimality criteria taken from the field of optimal grasping [15,[22][23][24].…”

Section: Automated Finger Design Approachesmentioning

confidence: 99%

Automated Grasp Planning and Finger Design Space Search Using Multiple Grasp Quality Measures

Hota,

Liu,

Decraemer

et al. 2024

Robotics

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As the industry shifts to automated manufacturing and the assembly of parts in smaller batches, there is a clear need for an efficient design of grippers. This paper presents a method for automated grasp planning and finger design for multiple parts using four grasp quality measures that capture the following important requirements for grasping: (i) uniform contact force distribution; (ii) better gravity wrench resistance; (iii) robustness against gripper positioning error; and (iv) ability to resist larger external wrench on the object. We introduce the fingertip score to quantify the grasp performance of a fingertip design over all the objects. The method takes the CAD model of the objects as the input and outputs the optimal grasp location and the best finger design. We use the method for a three-point grasp with a parallel jaw gripper. We validate our method on two sets of objects. Results show how each grasp quality measure behaves on different objects and the variation in the fingertip score with finger design. Finally, we test the effectiveness of the optimal finger design experimentally. The three-point grasp is suitable for grasping objects larger than is possible with shape-matching fingertips.

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Section: Automated Finger Design Approachesmentioning

confidence: 99%

Automated Grasp Planning and Finger Design Space Search Using Multiple Grasp Quality Measures

Hota,

Liu,

Decraemer

et al. 2024

Robotics

View full text Add to dashboard Cite

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Automated Configuration of Gripper Fingers from a Construction Kit for Robotic Applications

Friedmann,

Klüpfel,

Frech

et al. 2023

Machines

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Gripper finger design is a complex process that requires a lot of experience, time, and effort. For this reason, automating this design process is an important area of research that has the potential to improve the efficiency and effectiveness of robotic systems. The current approaches are aimed at the automated design of monolithic gripper fingers, which have to be manufactured additively or by machining. This paper describes a novel approach for the automated design of gripper fingers. The motivation for this work stems from the increasing demand for flexible, adaptable handling systems in various industries in response to the increasing individualization of products as well as the increasing volatility in the markets. Based on the CAD data of the handling objects, the most suitable configuration of gripper fingers can be determined from the existing modules of a construction kit for the respective handling object, which can significantly reduce the provisioning time for new gripper fingers. It can be shown that gripper fingers can be effectively configured for a variety of objects and two different grippers, increasing flexibility in industrial handling processes.

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Robotic Finger Design Workflow for Adaptable Industrial Assembly Tasks

Cited by 2 publications

References 0 publications

Automated Grasp Planning and Finger Design Space Search Using Multiple Grasp Quality Measures

Automated Grasp Planning and Finger Design Space Search Using Multiple Grasp Quality Measures

Automated Configuration of Gripper Fingers from a Construction Kit for Robotic Applications

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