Industrial applications of automatic manipulation of flexible materials

Saadat, Mozafar; Nan, Ping

doi:10.1108/01439910210440255

Cited by 61 publications

(35 citation statements)

References 47 publications

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“…For the manufacturing of fibre reinforced plastics (FRP) out of technical textiles based on carbon or glass, the automated handling of the limp semi-finished products is still a major problem in aerospace and automotive industry [5][6][7]. Therefore, automated processes are needed to continue the remarkable growth of such material systems (cf.…”

Section: Initial Situation and Challengesmentioning

confidence: 99%

Flexible gripping technology for the automated handling of limp technical textiles in composites industry

Reinhart

Strasser²

2011

Prod. Eng. Res. Devel.

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A high level of cost-intensive manual tasks in the manufacturing process of composite parts impedes a further propagation of those innovative structures in important German industrial branches like the automotive sector or aviation. Especially the handling of semi-finished goods in several key process-chains could not be automated efficiently so far due to a great variety of materials and part contours as well as difficult handling properties of the limp, textile parts. Hence within the presented work a highly-flexible gripper system based on low-vacuum-suction is introduced, which is the result of a methodical investigation in the ideal gripping principle. Special actuators and an intelligent control strategy are combined into a selective gripping technology, which allows an automatic adaption of the pressure based holding force to different contours and materials, by closing certain apertures of a perforated plate. The experimental validation of a realized robotic end-effector shows that the challenging requirements of modern composite production could be fulfilled as the structural integrity of the technical textiles is preserved during the handling processes.

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Section: Initial Situation and Challengesmentioning

confidence: 99%

Flexible gripping technology for the automated handling of limp technical textiles in composites industry

Reinhart

Strasser²

2011

Prod. Eng. Res. Devel.

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“…Saadat and Nan (2002) classified the industrial applications for handling flexible products into three areas according to the product shape: linear, flat or three-dimensional. Within the classification, there is a section for handling in the food industry.…”

Section: Product Manipulation and Physical Properties Of Horticulturamentioning

confidence: 99%

Review. Technologies for robot grippers in pick and place operations for fresh fruits and vegetables

Blanes

Mellado

Ortíz

et al. 1970

Span. j. agric. res.

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Robotics has been introduced in industry to replace humans in arduous and repetitive tasks, to reduce labour costs and to ensure consistent quality control of the process. Nowadays robots are cheaper, can work in hostile and dirty environments and they are able to manipulate products at high speed. High speed and reliability and low robot gripper costs are necessary for a profitable pick and place (P&P) process. However, current grippers are not able to handle these products properly because they have uneven shapes, are flexible and irregular, have different textures and are very sensitive to being damaged. This review brings together the requirements and phases used in the process of manipulation, summarises and analyses of the existing, potential and emerging techniques and their possibilities for the manipulation of fresh horticultural products from a detailed study of their characteristics. It considers the difficulties and the lack of engineers to conceive of and implement solutions. Contact grippers with underactuated mechanism and suction cups could be a promising approach for the manipulation of fresh fruit and vegetables. Ongoing study is still necessary on the characteristics and handling requirements of fresh fruit and vegetables in order to design grippers which are suitable for correct manipulation, at high speed, in profitable P&P processes for industrial applications.Additional key words: food manipulation; horticulture grasp; postharvest science and technology; robotic product handling. ResumenRevisión. Tecnologías en garras robotizadas para operaciones de coger y dejar productos hortofrutícolas frescos La robótica ha sido introducida en la industria para reemplazar a los humanos en tareas arduas y repetitivas, reducir mano de obra y para asegurar una calidad constante de los procesos. Actualmente los robos son más baratos, capaces de manipular productos a alta velocidad y de trabajar en ambientes hostiles. Por tanto, los robots pueden trabajar en operaciones de "coger y dejar" (pick & place, P&P) con frutas y hortalizas frescas. Para un proceso rentable de P&P, son necesarias una alta velocidad y fiabilidad, así como un bajo coste de los sistemas de agarre. Este artículo de revisión recopila las necesidades y fases empleadas en el proceso de manipulación, reuniendo y analizando las técnicas existentes, potenciales y emergentes y sus posibilidades de aplicación para la manipulación de productos hortofrutícolas frescos a partir del estudio detallado de sus características. Considera las dificultades y la falta de ingenieros para concebir e implementar soluciones. Los autores proponen las alternativas más prometedoras para acometer este difícil problema y consideran la necesidad de seguir estudiando las características de frutas y vegetales frescos y las necesidades de manipulación. Las garras de contacto con mecanismos infra-actuados y ventosas o agarrar el producto sin contacto pueden ser las alternativas más prometedoras para manipular frutas y vegetales frescos. Es necesario continuar e...

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“…It is hard to catalogue the literature about deformable objects, because it covers a wide range of aspects which can be combined to obtain good simulations for different situations (we need to start as general as possible, but without loosing the other ones from sight), starting with computer vision (which covers: identification, representation [17,15], classification, tracking [9]), simulation and manipulation (with applications mainly in robotics, medicine [12], computer graphics [16,7] and industry [19]). Sometimes the technique involves manually characterising the behaviour of a family of materials [18], sometimes the main focus is in topological information [20], sometimes they overlap across fields or get combined for new applications, like the work by Luo and Nelson [10] where visual tracking can provide haptic information, after a calibration phase of a FEM model links vision and haptic feedback.…”

Section: Related Workmentioning

confidence: 99%

2D Mass-spring-like Model for Prediction of a Sponge’s Behaviour upon Robotic Interaction

Arriola-Rios

Wyatt

2011

Research and Development in Intelligent Systems XXVIII

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Deformable objects abound in nature, and future robots must be able to predict how they are going to behave in order to control them. In this paper we present a method capable of learning to predict the behaviour of deformable objects. We use a mass-spring-like model, which we extended to better suit our purposes, and apply it to the concrete scenario of robotic manipulation of an elastic deformable object. We describe a procedure for automatically calibrating the parameters for the model taking images and forces from a real sponge as ground truth. We use this ground truth to provide error measures that drive an evolutionary process that searches the parameter space of the model. The resulting calibrated model can make good predictions for 200 frames (6.667 seconds of real time video) even when tested with forces being applied in different positions to those trained.

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Industrial applications of automatic manipulation of flexible materials

Cited by 61 publications

References 47 publications

Flexible gripping technology for the automated handling of limp technical textiles in composites industry

Flexible gripping technology for the automated handling of limp technical textiles in composites industry

Review. Technologies for robot grippers in pick and place operations for fresh fruits and vegetables

2D Mass-spring-like Model for Prediction of a Sponge’s Behaviour upon Robotic Interaction

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