Automated Design of Gripper Systems for Electrical Connectors

Gebauer, Daniel; Dirr, Jonas; Daub, Rüdiger

doi:10.1016/j.procir.2023.06.159

Cited by 3 publications

(1 citation statement)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…It induces forces and torques on the gripper depending on its current deformation state. In addition, these forces and torques have to be transmitted via complex surfaces [2].…”

Section: Introductionmentioning

confidence: 99%

Grasp Analysis for the Robot-Based Manipulation of Pre-Assembled Cables with Electrical Connectors

et al. 2023

View full text Add to dashboard Cite

The mounting of pre-assembled cables with electrical connectors is mainly carried out manually in industry today. An exemplary application is the interconnection of battery modules. Automation of such assembly tasks offers the potential for increasing efficiency but requires the design of suitable gripper systems. This is challenging as the cable induces state-dependent forces and torques on the gripper system, which must be transmitted via the complex surface geometries of the plugs. Currently, the required grasp force cannot be determined in advance but only after prototypes have been manufactured and with elaborate physical experiments. To overcome these drawbacks, we present a methodology for the grasp analysis of pre-assembled cables with electrical connectors. The novelty of this approach is to combine a physics simulation for deformable linear objects with a contact model for non-planar grasping surfaces. The results indicate that the cable deformation significantly affects the required grasp force. In addition, each combination of contact surface and dynamic cable deformation results in an individual grasp force course. The methodology enables comparison of different electrical connectors and their grasping surfaces, as well as cables and their manipulation paths, efficiently and with little expert knowledge.

show abstract

“…It induces forces and torques on the gripper depending on its current deformation state. In addition, these forces and torques have to be transmitted via complex surfaces [2].…”

Section: Introductionmentioning

confidence: 99%

Grasp Analysis for the Robot-Based Manipulation of Pre-Assembled Cables with Electrical Connectors

et al. 2023

View full text Add to dashboard Cite

show abstract

Uncertainty-integrating, automated design of gripper jaws for robust grasping of electrical connectors

Gebauer,

Geng,

Hartmann

et al. 2024

Prod. Eng. Res. Devel.

View full text Add to dashboard Cite

For robust grasping of workpieces with complex surface geometries such as the plugs of electrical connectors (ECs), individually designed gripper jaws are commonly required. The manual design of the latter is time-consuming, iterative, expensive, and requires expert knowledge. Therefore, automating the design process offers the potential to increase efficiency and reduce costs. However, the plugs of ECs often involve interference contours which pose a high risk for a grasp to fail. Thus, this paper introduces an approach for the automated design of gripper jaws that considers complex surface geometries with interference contours. Thereby, expected geometric uncertainties in the relative pose between a plug and a gripper system can be parameterized by a user. The key steps of our approach are to automatically simulate collision volumes between the gripper jaws and the workpiece to map geometric uncertainties in software for computer-aided design (CAD) and to adapt the gripper jaws accordingly within minutes and without manual design. The results of the experimental validation using three different high-voltage plugs show that the presented approach is suitable for robust grasping of such workpieces. In summary, our work intends to contribute to a more efficient design process of gripper systems for workpieces with complex surface geometries such as plugs of ECs.

show abstract

Robot-based, sensitive mating of electrical connectors using automatically designed gripper jaws

Gebauer,

Roith,

Dirr

et al. 2024

Procedia CIRP

View full text Add to dashboard Cite

Automated Design of Gripper Systems for Electrical Connectors

Cited by 3 publications

References 16 publications

Grasp Analysis for the Robot-Based Manipulation of Pre-Assembled Cables with Electrical Connectors

Grasp Analysis for the Robot-Based Manipulation of Pre-Assembled Cables with Electrical Connectors

Uncertainty-integrating, automated design of gripper jaws for robust grasping of electrical connectors

Robot-based, sensitive mating of electrical connectors using automatically designed gripper jaws

Contact Info

Product

Resources

About