Self-Aligning Grippers and Fixtures

自对准夹具和夹具

• 批准号: 0010069
• 负责人: Ken Goldberg
• 金额: $ 10万
• 依托单位: University of California-Berkeley
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2001
• 资助国家: 美国
• 起止时间: 2001-03-15 至 2003-02-28
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0010069&HistoricalAwards=false
• 关键词: Self; Aligning; Grippers; Fixtures

This small grant for preliminary research provides funding for analysis and synthesis of self-aligning grippers and fixtures, with an emphasis on demonstrating how 2D methods extend to 3D. Small variations in initial part position and orientation can lead to jamming, slippage, and damage as industrial parts are grasped or inserted into fixtures. Although manufacturing engineers have designed self-aligning grippers based on intuition, the goal is to define optimal solutions that depend on detailed part geometry and the mechanics of pushing, toppling, jamming, and accessibility. Algorithms will be developed that take as input a CAD model of the part and generate as output specifications for self-aligning grippers and fixtures. The investigator and one Ph.D. student will implement such grippers and perform mechanical experiments using the industrial robot in the lab to study part mechanics and performance in terms of Mean Time Between Failure.This project should produce new theoretical models of the mechanics of part acquisition, new data structures, and new hardware configurations that will improve the reliability of automated industrial manufacturing systems. The gripper hardware will be inexpensive and have near-term applicability. Self-aligning grippers can simplify assembly, increase reliability, decrease implementation cost, and facilitate setup for a broad range of manufacturing applications.

这笔初步研究的小额赠款为自对准夹具和夹具的分析和合成提供了资金，重点是展示如何将2D方法扩展到3D。当工业零件被抓住或插入夹具时，初始零件位置和方向的微小变化可能导致卡、滑和损坏。虽然制造工程师已经根据直觉设计了自对准夹具，但目标是根据零件的详细几何形状和推动、倾倒、干扰和可及性的机制来定义最佳解决方案。将开发算法，将零件的CAD模型作为输入，并生成自调心夹具和夹具的输出规格。研究人员和一名博士生将在实验室中使用工业机器人实现这种抓取器并进行机械实验，以平均故障间隔时间研究零件的力学和性能。该项目将产生零件获取机制的新理论模型，新的数据结构和新的硬件配置，这些将提高自动化工业制造系统的可靠性。夹持器硬件将是廉价的，并具有短期适用性。自调心夹持器可以简化装配，提高可靠性，降低实施成本，并为广泛的制造应用提供方便。