組立作業向けグリッパの構造的選定・設計手法
Selecting and Designing Grippers for an Assembly Task in a Structured Approach
組立部品のCADモデルからメッシュ分割と形状プリミティブ当てはめによりグリッパの種類とパラメータを自動生成し、組立制約や把持可能性・衝突回避を考慮して最適なグリッパ構成を選定する手法を提案し、産業製品の組立で実証した。
著者: Jingren Xu, Weiwei Wan, Keisuke Koyama, Yukiyasu Domae, Kensuke Harada
分類: cs.RO
原文アブストラクト
In this paper, we present a structured approach to selecting and designing a set of grippers for an assembly task. Compared to current experience-based gripper design method, our approach accelerates the design process by automatically generating a set of initial design options on gripper type and parameters according to the CAD models of assembly components. We use mesh segmentation techniques to segment the assembly components and fit the segmented parts with shape primitives, according to the predefined correspondence between primitive shape and gripper type, suitable gripper types and parameters can be selected and extracted from the fitted shape primitives. Moreover, we incorporate the assembly constraints in the further evaluation of the initially obtained gripper types and parameters. Considering the affordance of the segmented parts and the collision avoidance between the gripper and the subassemblies, applicable gripper types and parameters can be filtered from the initial options. Among the applicable gripper configurations, we further optimize number of grippers for performing the assembly task, by exploring the gripper that is able to handle multiple assembly components during the assembly. Finally, the feasibility of the designed grippers is experimentally verified by assembling a part of an industrial product.
