ABSTRACT

This study investigates object picking focusing on object arrangement patterns. Objects stored in distribution warehouses or stores are arranged in regular patterns, and the grasping strategy for object picking is selected according to the object arrangement pattern. However, object arrangement patterns have not been modeled for object picking. In this study, we represent objects as polyhedral primitives, such as cuboids or hexagonal cylinders, and model object arrangements by considering occlusion patterns for object model surfaces and considering whether the adjacent object occluding the surface is moveable. We define grasp patterns based on combinations of the grasp surfaces and discuss the grasping strategy when the grasp surfaces are occluded by adjacent objects. We then introduce newly developed gripper for picking arranged objects. The gripper comprises a suction gripper and a two-fingered gripper. The suction gripper has a telescopic arm and a swing suction cup. The two-fingered gripper mechanism combines a Scott Russell linkage and a parallel link. This mechanism is advantageous for the gripper in reaching narrow spaces and inserting fingers between objects. We demonstrate the picking up of arranged objects using the grippers.

摘要

本研究以物体排列模式为重点研究物体拾取。配送仓库或商店中存放的物品按规律排列，并根据物品排列图案选择物品拾取的抓取策略。然而，尚未为对象拾取建模对象排列模式。在这项研究中，我们将对象表示为多面体基元，例如长方体或六边形圆柱体，并通过考虑对象模型表面的遮挡模式并考虑遮挡表面的相邻对象是否可移动来模拟对象排列。我们根据抓取面的组合定义抓取模式，并讨论抓取面被相邻物体遮挡时的抓取策略。然后我们介绍新开发的抓手，用于抓取排列好的物体。抓手包括吸力抓手和两指抓手。吸盘有伸缩臂和摆动吸盘。双指夹持器机构结合了 Scott Russell 连杆和平行连杆。这种机制有利于抓手到达狭窄的空间并将手指插入物体之间。我们演示了使用抓手抓取排列好的物体。