An Integrated Design Pipeline for Tactile Sensing Robotic Manipulators
An Integrated Design Pipeline for Tactile Sensing Robotic Manipulators
复制标题
触觉传感机器人操纵器的集成设计流程
DOI：
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复制
发表时间：
2022
期刊：
影响因子：
--
通讯作者：
W. Matusik
中科院分区：
文献类型：
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作者：
Lara Zlokapa;Yiyue Luo;Jie Xu;Michael Foshey;Kui Wu;Pulkit Agrawal;W. Matusik
传统的机器人操纵器设计方法需要大量耗时的手动试错才能产生可行的设计。在此过程中，工程师在发现机器人操纵器更好的拓扑结构时，往往会花费时间重新设计或改造部件。触觉传感器虽然有用，但由于其庞大的外形因素，常常使设计变得复杂。我们提出了一种集成设计流程，以简化带有针织手套状触觉传感器的机器人操纵器的设计和制造。所提出的流程允许设计师通过应用预定义的图文法规则来组装一系列模块化的开源组件。最终的结果是一种直观的设计范例，能够在几分钟内创建操纵器的新虚拟设计。我们的框架允许设计师通过基于框架的几何变形来微调操纵器的形状。最后，设计师可以选择添加触觉传感的表面。一旦操纵器设计完成，程序将自动生成用于制造的3D打印和针织文件。我们通过创建四个在实际任务中进行测试的定制操纵器来展示该流程的实用性：拧蝶形螺母、从瓶子中倒水、拿起鸡蛋以及用剪刀剪纸。
Traditional robotic manipulator design methods require extensive, time-consuming, and manual trial and error to produce a viable design. During this process, engineers often spend their time redesigning or reshaping components as they discover better topologies for the robotic manipula-tor. Tactile sensors, while useful, often complicate the design due to their bulky form factor. We propose an integrated design pipeline to streamline the design and manufacturing of robotic manipulators with knitted, glove-like tactile sensors. The proposed pipeline allows a designer to assemble a collection of modular, open-source components by applying predefined graph grammar rules. The end result is an intuitive design paradigm that allows the creation of new virtual designs of manipulators in a matter of minutes. Our framework allows the designer to fine-tune the manipulator's shape through cage-based geometry deformation. Finally, the designer can select surfaces for adding tactile sensing. Once the manipulator design is finished, the program will automatically generate 3D printing and knitting files for manufacturing. We demonstrate the utility of this pipeline by creating four custom manipulators tested on real-world tasks: screwing in a wing nut, pouring water from a bottle, picking up an egg, and cutting paper with scissors.
DOI：
10.15607/rss.2021.xvii.008
发表时间：
2021-07
期刊：
ArXiv
影响因子：
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作者：
Jie Xu;Tao Chen;Lara Zlokapa;Michael Foshey;W. Matusik;S. Sueda;Pulkit Agrawal
通讯作者：
Jie Xu;Tao Chen;Lara Zlokapa;Michael Foshey;W. Matusik;S. Sueda;Pulkit Agrawal