Abstract
Robotic grasping is a billion-dollar industry with significant growth potential for the next decade. Unsurprisingly, technology providers and integrators are increasingly assisting in optimising production efficiency by implementing industrial robots and the necessary end-effectors into production lines. However, still too often in today’s robotic applications, dedicated grippers are designed to perform single tasks therewith adversely increasing cycle times and robot cell spaces due to constantly switching grippers from a tool magazine. In order to reduce handling costs and to cope with mass customisation, versatile grasping of various objects with multi-purpose grippers is key in evolving to modular assembly systems.Nowadays, thoughtful selection and design of robotic grippers is still mainly restricted to expert knowledge due its ad hoc and multi-objective nature. However, gripper selection and design should be tailored to the properties of the objects to be grasped, and the tasks to be executed. As a result, current solutions often end up being partly appropriate and/or over-dimensioned. The use of software tools to support this complex decision-making process is needed but limited so far.This paper presents a user-friendly toolkit that assists in selecting appropriate robotic grippers for grasping pre-specified ranges of objects. For this, a web API has been established for accessing the available gripper database and selection methodology. Additionally, this toolkit assists in designing multi-functional jaws for impactive grippers, and lay-outing individually positioned astrictive grippers. The underlying optimiser will try to find the most ideal grasping points on each object in accordance with quality metrics and constraints, and this for each of the selected grippers. To demonstrate the functionality of the presented toolkit, two case studies on impactive and astrictive gripper designs have been worked out involving 3D mechatronic and 2D sheet metal parts.
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