Automatic design algorithm of a robotic end-effector for a set of sheet-metal parts

— Robotic end-effectors in automated production lines are specially designed and built for a unique task and for a particular part. An end-effector capable of grasping different parts with different geometries will expand its benefit and reduce costs. This work focuses on the grasp of sheet metal parts for the automotive industry. In order to maximize the use of a single end-effector, this paper proposes a search algorithm for a simple common grasp configuration. Such configuration imply for an end-effector design capable of grasping a set of sheet metal parts. The algorithm maps possible grasps which are candidate to be common. We define a novel quality measure estimating the distribution of the contacts across the sheet metal part. Candidate grasps which have a sufficient quality are mapped into high-dimensional feature vectors. These feature vectors parameterize the geometry of the polyhedron formed by the contacts locations and the direction of the surface normals relative t...

• Type: Journal
• Year: 2015
• Where: RAM
• Authors: Avishai Sintov, Amir Shapiro
• Keywords: RAM 2015, Robotics