Selecting and designing grippers for an assembly task in a structured approach
Selecting and designing grippers for an assembly task in a structured approach
复制标题
以结构化方法为装配任务选择和设计夹具
DOI：
10.1080/01691864.2020.1870047
复制
发表时间：
2021
影响因子：
2
通讯作者：
Harada Kensuke
中科院分区：
文献类型：
--
作者：
Xu Jingren;Wan Weiwei;Koyama Keisuke;Domae Yukiyasu;Harada Kensuke
在本文中，我们提出了一个结构化的方法来选择和设计一套夹具的装配任务。与目前基于经验的夹具设计方法相比，该方法根据装配部件的CAD模型自动生成夹具类型和参数的初始设计方案，加快了设计过程。采用网格分割技术对装配体进行分割，并对分割后的装配体进行形状基元拟合，根据形状基元与夹持器类型的对应关系，从拟合后的形状基元中选择并提取合适的夹持器类型和参数。此外，我们将装配约束在最初获得的夹持器类型和参数的进一步评估。考虑到分段零件的示能性以及夹持器和夹具之间的碰撞避免，可以从初始选项中过滤适用的夹持器类型和参数。在适用的夹持器配置，我们进一步优化了执行装配任务的夹持器的数量，通过探索能够在装配过程中处理多个装配部件的夹持器。最后，通过对工业产品零件的装配实验，验证了所设计夹具的可行性。
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 for gripper types 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 shape primitive 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 the 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.