Prediction of part orientation error tolerance of a robotic gripper

Wagner, Matthew E.; Morehouse, John B.; Melkote, Shreyes N.

doi:10.1016/j.rcim.2008.02.006

Cited by 12 publications

(3 citation statements)

References 10 publications

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“…This topic is much less studied in the literature, and only a few relevant papers were found. Uncertainty in case of grasping is studied in [40]. In this paper, the concept of selfalignment is introduced, which occurs during workpiece grasping.…”

Section: Tolerance Factors In Robotic Pick-and-placementioning

confidence: 99%

Tolerance analysis for robotic pick-and-place operations

Tipary

Erdös

2021

Int J Adv Manuf Technol

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Robotic workcell design is a complex process, especially in case of flexible (e.g., bin-picking) workcells. The numerous requirements and the need for continuous system validation on multiple levels place a huge burden on the designers. There are a number of tools for analyzing the different aspects of robotic workcells, such as CAD software, system modelers, or grasp and path planners. However, the precision aspect of the robotic operation is often overlooked and tackled only as a matter of manipulator repeatability. This paper proposes a designer tool to assess the precision feasibility of robotic pick-and-place workcells from the operation point of view. This means that not only the manufacturing tolerances of the workpiece and the placing environment are considered, but the tolerance characteristics of the manipulation and metrology process (in case of flexible applications) as well. Correspondingly, the contribution of the paper is a novel tolerance modeling approach, where the tolerance stack-up is set up as a transformation chain of low-order kinematic pairs between the workpiece, manipulator, and other workcell components, based on manipulation, seizing, releasing, manufacturing, and metrology tolerances. Using this representation, the fulfillment of functional requirements (e.g., picking or placing precision) can be validated based on the tolerance range of corresponding chain members. By having a generalized underlying model, the proposed method covers generic industrial pick-and-place applications, including both conventional and flexible ones. The application of the method is presented in a semi-structured pick-and-place scenario.

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Section: Tolerance Factors In Robotic Pick-and-placementioning

confidence: 99%

Tolerance analysis for robotic pick-and-place operations

Tipary

Erdös

2021

Int J Adv Manuf Technol

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“…It is critical to design an appropriate gripper (end-effector) for robotic operations as the robots don't work without grippers. Significant efforts have been devoted to the development of robotic grippers for macro and micro manipulations in industrial manufacturing or production and medical/healthcare applications [2][3][4][5][6][7][8][9][10]. However it is difficult, if not possible, to find commercialized universal grippers that are capable of grasping and handing different objects as human hands do.…”

Section: Introductionmentioning

confidence: 99%

Robotic Tray-Handling in Medical Chewing Gum Production

Zhang¹,

Heide-Jørgensen²,

Frederiksen³

et al. 2016

World Congress on Mechanical, Chemical, and Material Engineering

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-This work presents a robotic solution to the automation of medical chewing gum production. The automation requirements are defined based on the discussions with the industrial customer, and then the concept design of a robotic system is conducted. In this paper, a robotic gripper has been developed to handle the trays in medical chewing gum production, and has been integrated to a safe and lightweight Universal Robot manipulator. The experimental testing has been performed using a UR5 robot arm to simulate the trayhandling in the process of medical chewing gum production: picking up, rotating, and placing down. The testing results are analyzed and demonstrate that the developed robotic solution and gripper meet the required tray-handling performance. The solution is accepted by the industrial partner for production testing.

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“…To this purpose, much work has been done to develop such functional robotic end-effectors in the past 25 years. A robotic gripper could be like a jaw (Chen et al, 2012;Pettersson et al, 2011) with two fingers, three fingers (Wagner et al, 2009), four fingers (Ragunathan and Karunamoorthy, 2008) or even same with human's hand (Yokokohji et al, 2009).…”

Section: Introductionmentioning

confidence: 99%

Design of a novel dexterous robotic gripper for in-hand twisting and positioning within assembly automation

Chen

Carbonari

Canali

et al. 2015

Assembly Automation

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Purpose – This paper aims to design a novel jaw gripper with human-sized anthropomorphic features to be suitable for precise in-hand posture transitions, such as twisting and re-positioning. The growing demand from traditional high-mix low-volume and new massive customized manufacturing industry requires the robot with configurability and flexibility. In the electronic manufacturing industry particularly, the design of the robotic hand with sufficient dexterity and configuration is important for the robot to accomplish the assembly task reliably and robustly. It is important for the robot to be able to grasp and manipulate a large number of assembly parts or tools. Design/methodology/approach – In this research, a novel jaw-like gripper with human-sized anthropomorphic features is designed for online in-hand precise positioning and twisting. It retains the simplicity feature of traditional industrial grippers and dexterity features of dexterous robotic hands. Findings – The gripper is able to apply suitable gripping force on assembly parts and performs reliable twisting movement within limited time to meet the industrial requirements. Manipulating several cylindrical assembly parts by robot, as an experimental case in this paper, is studied to evaluate its performance. The effectiveness of proposed gripper design and mechanical analysis is proved by the simulation and experimental results. Originality/value – The main originality of this research is that a novel jaw gripper with human-sized anthropomorphic features is designed to be suitable for precise in-hand posture transitions, such as twisting and re-positioning. With this gripper, the robotic system will be sufficiently flexible to deal with various assembly tasks.

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Prediction of part orientation error tolerance of a robotic gripper

Cited by 12 publications

References 10 publications

Tolerance analysis for robotic pick-and-place operations

Tolerance analysis for robotic pick-and-place operations

Robotic Tray-Handling in Medical Chewing Gum Production

Design of a novel dexterous robotic gripper for in-hand twisting and positioning within assembly automation

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