Validation of the Expert System Used for Optimum Gripping Surfaces Identification for an Injection-Molded Part

Abstract

This paper describes a validation method through experimental tests of the Expert System conceived for the identification of the optimum gripping surfaces for an injection-molded part, conceived by the authors. A number of experimental tests were conducted using a flexible vacuum end-effector. During experimental tests phases three different versions have been considered for experimenting in which different types of suction cup holders and different placements on the end-effector structure were analyzed. The part subjected to tests was a stove handle. The first version of the vacuum end-effector is composed of four rigid suction cup, their placement on the gripper being made on points randomly chosen. The second version of the end-effector is composed of four flexible suction cup holders equipped with spherical articulations; the axes adjustment on the gripped surfaces being made on four randomly chosen points. The third version is composed of four suction cup holders equipped with spherical articulations, the axes positions and points placement being offered by the Expert System.

Validation of the Expert System Used for Optimum Gripping Surfaces Identification for an Injection-Molded Part

“…Using the position of the suction cups presented earlier, using inverse kinematic analysis the positioning parameters of the suction cup for each of the suction cups are calculated considering the fact that the rehash and device manipulates simultaneously two pieces. In the next stage of the experiments the flexible vacuum end effector was adjusted so that the contact between the suction cups and the corresponding surface is utilized on the extremities of the zones 1-4, identified by the program as being the optimal prehension places [5].…”

Method Used to Identify the Optimum Gripping Surfaces for an Injection-Molded Part

“…Industrial robots are frequently used in the injection systems of plastics, due to multiple advantages which they present finally determining cost reduction. Thus 1281 nodes and 564 elements were generated and exported in an ASCII file for later processing in MATLAB [2], [5].…”

“…The authors have conceived and implemented a program through which a quick and precise identifying of the optimum gripping surfaces of the vacuum end effector suction cups on the surfaces of the simultaneously injected pieces is made [5], [6].…”