A Three-Fingered Hand with a Suction Gripping System for Warehouse Automation
A Three-Fingered Hand with a Suction Gripping System for Warehouse Automation
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DOI：
10.20965/jrm.2019.p0289
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发表时间：
2019-04
期刊：
影响因子：
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通讯作者：
Shun Hasegawa;Kentaro Wada;K. Okada;M. Inaba
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文献类型：
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作者：
Shun Hasegawa;Kentaro Wada;K. Okada;M. Inaba
对于仓库自动化，将物品存放在存储货架中（装载阶段）并将其从货架上取下（拣选阶段）应该是自动化的。为了实现这一点，我们提出了一个吸力捏手，一个不稳定到稳定的转换（UST）的战略，和入口通过（EP）的战略。吸力捏手有两个欠驱动的手指和一个可伸展和折叠的吸手指，其指尖有一个吸盘。在拣选阶段，抽吸指状件用于在杂乱的狭窄空间中进入和操纵各种物体，这种空间在高效仓库中是典型的。由于这种操纵有时是不稳定的，因此在抽吸指将物体移动到相对开放的空间之后，同时使用欠致动的指来稳定抓握。UST策略实现了从狭窄空间中的不稳定对象操作到相对开放空间中的稳定对象操作的过渡。在收起阶段中，欠致动指状物中的接近传感器用于感测何时触摸物体，以确保在收起阶段中可执行的直接夹捏运动。最后，EP策略确保拾取的物体能够通过货架箱的入口并被成功装载。实验结果表明，我们的机器人手的能力，抓住各种物体稳定和安全，和有效的UST和EP策略在采摘和存放阶段。
For warehouse automation, stocking items in storage shelves (stowing stage) and picking them off the shelves (picking stage) should be automated. To achieve this, we propose a Suction Pinching Hand, an unstable-to-stable transformation (UST) strategy, and an entrance passing (EP) strategy. The Suction Pinching Hand has two underactuated fingers and one extendable and foldable suction finger whose fingertip has a suction cup. The suction finger is useful during the picking stage to enter and manipulate various objects in a cluttered narrow space, with such spaces being typical in efficient warehouses. As this manipulation is sometimes unstable, the underactuated fingers are used simultaneously to stabilize the grasp after the suction finger moves the object to a relatively open space. The UST strategy realizes the transition from unstable object manipulation in a narrow space to stabilization in a relatively open space. In the stowing stage, proximity sensors in the underactuated fingers are used to sense when the object is touched, for securing a direct pinching motion executable in the stowing stage. Finally, the EP strategy ensures that the picked object is able to pass through the entrance of the shelf bin and be successfully stowed. Experiments demonstrate both the ability of our robot hand to grasp various objects stably and safely, and the effectiveness of the UST and EP strategies during the picking and stowing stages.