Automatic simulation-based design and validation of robotic gripper fingers

Ramasubramanian, Aswin K; Connolly, Matthew; Mathew, Robins; Papakostas, Nikolaos

doi:10.1016/j.cirp.2022.04.054

Cited by 10 publications

(4 citation statements)

References 13 publications

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“…The approach thus supports current developments in the field of automated gripper finger design, which are aimed at the rapid adaptation of grippers by using simulations [43], thus avoiding time-consuming design iterations, or by the automated design [31] and replacement [24] of only a few components. So far, the approach has been applied and verified with two grippers and the defined workpiece spectrum.…”

Section: Discussionmentioning

confidence: 55%

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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Section: Discussionmentioning

confidence: 55%

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

Friedmann,

Klüpfel,

Frech

et al. 2023

Machines

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“…Efforts have been made to generate finger designs based on the CAD description of the parts to be grasped [13,17,18]. Honarpardaz et al [16] gives a review of the methods for automated finger designs for industrial gripping.…”

Section: Automated Finger Design Approachesmentioning

confidence: 99%

“…The robustness measure (Q r ) we use is based on the binary force-closure measure with a threshold on the minimum force-closure quality. The mean and spread of y ′ o and θ ′ used to compute the normally distributed random grasp parameters in Equations ( 16) and (17) are given in Table 8. The values of random variables presented in Table 8 were chosen to simulate small errors in the positioning of the gripper.…”

mentioning

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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“…Industrial robots are extensively employed in the automotive and electronics industries, as well as in other fields [ 2 , 3 , 4 ]. Serial robots [ 5 , 6 , 7 ] are essential components of robots. The complex parameter coupling and multi-objective design of serial robots have attracted the attention and research of scholars [ 8 , 9 , 10 , 11 ].…”

Section: Introductionmentioning

confidence: 99%

Structural Optimization Design of a Six-Degrees-of-Freedom Serial Robot with Integrated Topology and Dimensional Parameters

Jia

Sun

2023

Sensors

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In the structural design of serial robots, topology and dimensional parameters design are independent, making it challenging to achieve synchronous optimization design between the two. To address this issue, a topology-and-dimension-parameter integrated optimization method (TPOM) is proposed by setting critical variables to connect topology layout and dimensional features. Firstly, the topology layout is extracted by the edge detection technique. Structural manufacturability reconstruction is conducted by measuring the dimensions of the layout through a program. Additionally, for the reconstructed structural layout, critical variables are set using three-dimensional software (SOLIDWORKS2021). The experiments primarily involve critical variables, quality, and deformation as variables. Then, the response surface methodology is selected to construct the stiffness–mass metamodel, and based on this, the structural deformation is analyzed. Lastly, the multi-objective genetic algorithm (MOGA) is employed to optimize the critical variables, and an optimized structure is established for validation. The results indicate that the proposed method (TPOM) reduces the mass of the structure by 15% while maintaining its stiffness. In addition, the deformation of the whole structure is less than 0.352 mm, which meets the requirements of industrial applications. Through quantitative analysis of the experimental results, the feasibility and superiority of the proposed method have been demonstrated.

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Automatic simulation-based design and validation of robotic gripper fingers

Cited by 10 publications

References 13 publications

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

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

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

Structural Optimization Design of a Six-Degrees-of-Freedom Serial Robot with Integrated Topology and Dimensional Parameters

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