Generic Automated Finger Design

Honarpardaz, Mohammadali; Tarkian, Mehdi; Feng, Xiaolong; Sirkett, D M; Ölvander, Johan

doi:10.1115/detc2016-60514

Cited by 8 publications

(11 citation statements)

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“…Following this step, specifications of the gripper (i.e. gripper mode, payload, maximum finger length, jaw stroke, maximum force) are provided to the algorithm (Honarpardaz et al, 2016a). CAD models of workpieces with complex geometries usually contain several surfaces with various areas.…”

Section: Geometry Analysismentioning

confidence: 99%

“…force or form closure), contact model (i.e. frictionless, hard finger and soft finger), and minimum number of required contact points (Nguyen, 1986) are determined (Honarpardaz et al, 2016a).…”

Section: Geometry Analysismentioning

confidence: 99%

“…As the current exhaustive manual finger design method makes up a large portion of the integration process, research within automating finger designs has become a hot topic for robot manufacturers. In earlier works (Honarpardaz et al, 2016a(Honarpardaz et al, , 2016b, the Generic Automated Finger Design (GAFD) method is introduced to enable a non-skilled user to generate customized fingers for applications that require handling one or more workpieces (e.g. pick-and-place and assembly).…”

Section: Introductionmentioning

confidence: 99%

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Fast finger design automation for industrial robots

Honarpardaz

Ölvander

Tarkian

2019

Robotics and Autonomous Systems

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Finger design automation is highly demanded from robot industries to fulfill the requirements of the agile market. Nevertheless, literature lacks a promising approach which automates the design process of reliable fingers for industrial robots. Hence, this work proposes the generic optimized finger design (GOFD) method which automates the design process and minimizes the time it takes to design finger grippers. The method is applied to optimize fingers for several objects and it outperforms existing methods. Finally, the optimized fingers are manufactured and the results are experimentally verified.

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Section: Geometry Analysismentioning

confidence: 99%

Section: Geometry Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Fast finger design automation for industrial robots

Honarpardaz

Ölvander

Tarkian

2019

Robotics and Autonomous Systems

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“…Meier and Robert Haschke are with the Neuroinformatics Group, Center of Excellence Cognitive Interaction Technology (CITEC), Bielefeld University, Germany (phone: +49 521 106-12105; e-mail: mmeier@techfak.uni-bielefeld.de, rhaschke@techfak.uni-bielefeld. de) geometry while taking all key processes into account [5]. However, the design process time (DPT) of this method is considerably long compared to existing methods.…”

Section: Introductionmentioning

confidence: 99%

“…As a result, recently the Generic Automated Finger Design (GAFD) [5] method was introduced to overcome flaws of the existing customized design methods. This method starts with an analysis of the 3D model of the workpiece and creates a point cloud model of the object by meshing the geometry.…”

Section: B Finger Generationmentioning

confidence: 99%

Fast grasp tool design: From force to form closure

Honarpardaz

Meier

Haschke

2017

2017 13th IEEE Conference on Automation Science and Engineering (CASE)

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Abstract-We present a novel technique which integrates automatic, part centered design of customized fingertips with a grasp planning stage for arbitrary parts of an assembly process. Starting with a set of CAD models of parts in an assembly sequence, force closure grasps are generated for each part in a sampling process. By employing the sampled force closure grasp positions in the second stage, the fingertip shape model is adapted to obtain form closure grasps at the specific grasp locations on the part. This approach significantly reduces the process time of designing fingers. Furthermore, the method increases the robustness of the fingers grasp for precise assemblies. The proposed fast generic automated finger design (FGAFD) method is able to design fingers for various geometrically complex workpieces. The designed fingers are experimentally verified. The results are discussed in detail and benchmarked against existing approaches.

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A Survey of Robotic Harvesting Systems and Enabling Technologies

Δρούκας

Doulgeri

Tsakiridis

et al. 2023

J Intell Robot Syst

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This paper presents a comprehensive review of ground agricultural robotic systems and applications with special focus on harvesting that span research and commercial products and results, as well as their enabling technologies. The majority of literature concerns the development of crop detection, field navigation via vision and their related challenges. Health monitoring, yield estimation, water status inspection, seed planting and weed removal are frequently encountered tasks. Regarding robotic harvesting, apples, strawberries, tomatoes and sweet peppers are mainly the crops considered in publications, research projects and commercial products. The reported harvesting agricultural robotic solutions, typically consist of a mobile platform, a single robotic arm/manipulator and various navigation/vision systems. This paper reviews reported development of specific functionalities and hardware, typically required by an operating agricultural robot harvester; they include (a) vision systems, (b) motion planning/navigation methodologies (for the robotic platform and/or arm), (c) Human-Robot-Interaction (HRI) strategies with 3D visualization, (d) system operation planning & grasping strategies and (e) robotic end-effector/gripper design. Clearly, automated agriculture and specifically autonomous harvesting via robotic systems is a research area that remains wide open, offering several challenges where new contributions can be made.

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Generic Automated Finger Design

Cited by 8 publications

References 0 publications

Fast finger design automation for industrial robots

Fast finger design automation for industrial robots

Fast grasp tool design: From force to form closure

A Survey of Robotic Harvesting Systems and Enabling Technologies

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