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Soft Robotic Gripper with Compliant Cell Stacks for Industrial Part Handling
IEEE Robotics and Automation Letters ( IF 5.2 ) Pub Date : 2020-10-01 , DOI: 10.1109/lra.2020.3020546
Metodi Netzev , Alexandre Angleraud , Roel Pieters

Robot object grasping and handling requires accurate grasp pose estimation and gripper/end-effector design, tailored to individual objects. When object shape is unknown, cannot be estimated, or is highly complex, parallel grippers can provide insufficient grip. Compliant grippers can circumvent these issues through the use of soft or flexible materials that adapt to the shape of the object. This letter proposes a 3D printable soft gripper design for handling complex shapes. The compliant properties of the gripper enable contour conformation, yet offer tunable mechanical properties (i.e., directional stiffness). Objects that have complex shape, such as non-constant curvature, convex and/or concave shape can be grasped blind (i.e., without grasp pose estimation). The motivation behind the gripper design is handling of industrial parts, such as jet and Diesel engine components. (Dis)assembly, cleaning and inspection of such engines is a complex, manual task that can benefit from (semi-)automated robotic handling. The complex shape of each component, however, limits where and how it can be grasped. The proposed soft gripper design is tunable by compliant cell stacks that deform to the shape of the handled object. Individual compliant cells and cell stacks are characterized and a detailed experimental analysis of more than 600 grasps with seven different industrial parts evaluates the approach.

中文翻译:

具有用于工业零件处理的兼容单元堆栈的软机器人夹持器

机器人物体抓取和处理需要准确的抓取姿势估计和抓手/末端执行器设计,为单个物体量身定制。当物体形状未知、无法估计或高度复杂时,平行夹具可能无法提供足够的抓地力。合规抓手可以通过使用适应物体形状的柔软或柔性材料来规避这些问题。这封信提出了一种用于处理复杂形状的 3D 可打印软抓手设计。夹持器的柔顺特性能够实现轮廓构造,同时提供可调节的机械特性(即方向刚度)。具有复杂形状的物体,例如非恒定曲率、凸面和/或凹面形状,可以盲目抓取(即,无需抓取姿势估计)。夹具设计背后的动机是处理工业零件,例如喷气发动机和柴油发动机部件。此类发动机的(拆卸)组装、清洁和检查是一项复杂的手动任务,可以从(半)自动机器人处理中受益。然而,每个组件的复杂形状限制了它在何处以及如何被抓取。所提出的软夹持器设计可通过可变形为被处理物体形状的柔性电池堆进行调节。对单个符合要求的电池和电池堆进行了表征,并对 7 个不同工业部件的 600 多个抓取进行了详细的实验分析,以评估该方法。所提出的软夹持器设计可通过可变形为被处理物体形状的柔性电池堆进行调节。对单个符合要求的电池和电池堆进行了表征,并对 7 个不同工业部件的 600 多个抓取进行了详细的实验分析,以评估该方法。所提出的软夹持器设计可通过可变形为被处理物体形状的柔性电池堆进行调节。对单个符合要求的电池和电池堆进行了表征,并对 7 个不同工业部件的 600 多个抓取进行了详细的实验分析,以评估该方法。
更新日期:2020-10-01
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