Abstract
Multi-function fingers that are able to handle multiple workpieces are crucial in improvement of a robot workcell. Design automation of multi-function fingers is highly demanded by robot industries to overcome the current iterative, time consuming and complex manual design process. However, the existing approaches for the multi-function finger design automation are unable to entirely meet the robot industries’ need. This paper proposes a generic approach for design automation of multi-function fingers. The proposed approach completely automates the design process and requires no expert skill. In addition, this approach executes the design process much faster than the current manual process. To validate the approach, multi-function fingers are successfully designed for two case studies. Further, the results are discussed and benchmarked with existing approaches.
Highlights
This paper aims to provide a generic and reliable method for design automation of multi-function fingers for industrial robot grippers
The data arrangement and grasp stages used in this work are identical to those presented in the earlier version of the Generic Automated Finger Design (GAFD), as described in detail in [12]
The superposed workpiece is subtracted from the finger blanks
Summary
This paper aims to provide a generic and reliable method for design automation of multi-function fingers for industrial robot grippers. Multi-function fingers allow the gripper to handle multiple workpieces with the same fingers. In most industrial assembly applications, multiple workpieces are required to be handled in the assembly process. Three solutions for multiple workpiece handling are common in the robot industry. 1. To change the gripper (tool) for each assembly task. To change the gripper (tool) for each assembly task This incurs a significant cycle time penalty and reduces the throughput of the workcell
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