ABSTRACT

In this paper, we present a structured approach to selecting and designing a set of grippers for an assembly task. Compared to current experience-based gripper design method, our approach accelerates the design process by automatically generating a set of initial design options for gripper types and parameters according to the CAD models of assembly components. We use mesh segmentation techniques to segment the assembly components and fit the segmented parts with shape primitives, according to the predefined correspondence between shape primitive and gripper type, suitable gripper types and parameters can be selected and extracted from the fitted shape primitives. Moreover, we incorporate the assembly constraints in the further evaluation of the initially obtained gripper types and parameters. Considering the affordance of the segmented parts and the collision avoidance between the gripper and the subassemblies, applicable gripper types and parameters can be filtered from the initial options. Among the applicable gripper configurations, we further optimize the number of grippers for performing the assembly task, by exploring the gripper that is able to handle multiple assembly components during the assembly. Finally, the feasibility of the designed grippers is experimentally verified by assembling a part of an industrial product.

摘要

在本文中，我们提出了一种结构化的方法来选择和设计用于装配任务的一组夹具。与当前基于经验的夹具设计方法相比，我们的方法通过根据装配部件的CAD模型自动生成一组针对夹具类型和参数的初始设计选项，从而加快了设计过程。我们使用网格分割技术对装配零件进行分割，并使用形状图元对分割后的零件进行拟合，根据形状图元和抓爪类型之间的预定义对应关系，可以从适合的形状图元中选择合适的抓爪类型和参数并提取出来。此外，我们在最初获得的夹持器类型和参数的进一步评估中纳入了装配约束。考虑到分段零件的承受能力以及夹具与子组件之间的碰撞避免，可以从初始选项中筛选出适用的夹具类型和参数。在适用的夹具配置中，我们通过探索能够在组装过程中处理多个组装部件的夹具，进一步优化了用于执行组装任务的夹具数量。最后，通过组装一部分工业产品，通过实验验证了所设计的抓爪的可行性。通过探索在装配过程中能够处理多个装配部件的抓具。最后，通过组装一部分工业产品，通过实验验证了所设计的抓爪的可行性。通过探索在装配过程中能够处理多个装配部件的抓具。最后，通过组装一部分工业产品，通过实验验证了所设计的抓爪的可行性。