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

Avishai Sintov, Amir Shapiro

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

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 to the polyhedron. Thereby, they describe the design of the end-effector compatible to the grasp. A database is generated for all possible grasps for each part in the feature vector space. A similarity join based on nearest-neighbor search and classification algorithm are used for intersecting all possible feature vectors over all sheet metal parts and finding common ones. Simulations of a 3-finger grasp on four meshed sheet metal parts resulted in a common grasp. Results of the simulations validate the feasibility of the proposed algorithm.

Original languageEnglish
Title of host publicationProceedings of the 2015 7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and Robotics, Automation and Mechatronics, RAM 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages19-24
Number of pages6
ISBN (Electronic)9781467373364
DOIs
StatePublished - 23 Sep 2015
Event7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and the 7th IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2015 - Siem Reap, Cambodia
Duration: 15 Jul 201517 Jul 2015

Conference

Conference7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and the 7th IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2015
Country/TerritoryCambodia
CitySiem Reap
Period15/07/1517/07/15

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

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