Reduced Complexity Manipulation with the Parallel-Jaw Gripper: 2-Year Plan for Extended Research

为了使制造业保持竞争力，在设计产品时必须考虑到诸如易于组装，可抓取性和易于进料等因素。这项拨款提供了一个扩展的机会来攻击令人兴奋的新研究课题，这些课题属于与原始拨款相同的一般研究领域：将传感器和执行器与几个自由度相结合，以把握和定向零件。与平行颚夹持器相关的剩余未决问题包括用于估计给定多面体零件的2点摩擦抓地力的快速算法，以及在主动枢轴伺服下找到允许零件旋转到所需最终姿态的抓地力。我们还将研究如何在传送带上对被动栅栏序列移动的部件进行定向和分类，以及在金属板上通过控制振动系统馈送部件的方法。索尼在他们的APOS系统中使用了这个想法的变体，但他们没有科学的编程基础。这项新研究的目的就是要建立这样一个科学基础。

For manufacturing industries to remain competitive, considerations such as the ease of assembly, graspability, and ease of feeding must be taken into account when products are designed. This grant provides an extended opportunity to attack exciting new research topics that fall within the same general research area as the original grant: combining sensors and actuators with few degrees of freedom to grasp and orient parts. Remaining open problems related to the parallel-jaw gripper include a fast algorithm for estimating 2 point frictional grasps of a given polyhedral part and finding grasps that will permit the part to be pivoted into the desired final pose under an active pivot servo. We will also investigate how parts can be oriented and sorted as they move on a conveyor belt against a passive sequence of fences and a method for systematically feeding parts with controlled vibrations on a metal plate. Sony uses a variant on this idea in their APOS system but they do not have a science base for programming it. The aim of this new research is to develop such a science base.