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 on gripper type 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 primitive shape 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 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.

中文翻译：

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以结构化方法为装配任务选择和设计夹具

在本文中，我们提出了一种结构化方法来为装配任务选择和设计一组夹具。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 模型自动生成一组关于夹具类型和参数的初始设计选项来加速设计过程。我们使用网格分割技术对装配组件进行分割并用形状图元拟合被分割的零件，根据图元形状和夹具类型之间的预定义对应关系，可以从拟合的形状基元中选择和提取合适的夹具类型和参数。此外，我们将装配约束纳入对最初获得的夹具类型和参数的进一步评估中。考虑到分段零件的可供性以及夹具和子组件之间的碰撞避免，可以从初始选项中过滤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装配过程中处理多个装配部件的夹具，进一步优化了用于执行装配任务的夹具数量。最后，通过组装工业产品的一部分，实验验证了所设计夹具的可行性。通过探索能够在装配过程中处理多个装配部件的夹具。最后，通过组装工业产品的一部分，实验验证了所设计夹具的可行性。通过探索能够在装配过程中处理多个装配部件的夹具。最后，通过组装工业产品的一部分，实验验证了所设计夹具的可行性。