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

为 制造 行业 到 保持 为了提高产品的竞争力，在设计产品时，必须考虑诸如易于组装、可抓握性和易于进给等因素。 这项资助提供了一个扩展的机会来攻击令人兴奋的新研究课题，这些课题与原始资助属于同一个一般研究领域：将传感器和执行器与几个自由度相结合，以抓取和定向零件。 剩余的开放的问题有关的平行颚夹持器包括一个快速算法，用于估计2点摩擦抓地力的一个给定的多面体部分，并找到抓地力，这将允许该部分被枢转到所需的最终姿态下的主动枢转伺服。 我们还将研究如何定位和分类零件，因为他们在传送带上移动对围栏的被动序列和一种方法，用于系统地进给零件与金属板上的振动控制。 索尼在他们的APOS系统中使用了这个想法的变体，但他们没有编程的科学基础。这项新研究的目的是开发这样一个科学基础。

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.