Increasing object flexibility of vacuum gripper systems through a common grasp search

IF 3.2 3区工程技术 Q2 ENGINEERING, INDUSTRIAL

Cirp Annals-Manufacturing Technology Pub Date : 2025-01-01 DOI:10.1016/j.cirp.2025.04.051

Rüdiger Daub , Paul Geng

引用次数: 0

Abstract

Gripper systems play a crucial role in robot-based automation. Frequent refitting hinders automation in companies with high product variance, but flexible gripper systems are costly. Therefore, this paper presents a software-based methodology to increase the object flexibility of standardized gripper systems during their design phase. The first step is to use clustering algorithms based on the physical properties of the workpieces to find similarities. Afterward, an optimization is used to identify common grasp points across workpieces. The approach is validated using vacuum gripper systems as a low-cost automation tool and printed circuit board assemblies (PCBAs) as exemplary workpieces.

查看原文本刊更多论文

通过共同抓取搜索提高真空抓取系统的目标灵活性

抓手系统在机器人自动化中起着至关重要的作用。频繁的改装阻碍了产品多样性高的公司的自动化，但灵活的夹具系统是昂贵的。因此，本文提出了一种基于软件的方法来增加标准化夹具系统在其设计阶段的对象灵活性。第一步是使用基于工件物理特性的聚类算法来寻找相似性。然后，采用优化方法确定工件上的共同抓点。采用真空夹持系统作为低成本自动化工具和印刷电路板组件（pcba）作为示例工件验证了该方法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Cirp Annals-Manufacturing Technology 工程技术-工程：工业

CiteScore

7.50

自引率

9.80%

发文量

137

审稿时长

13.5 months

期刊介绍： CIRP, The International Academy for Production Engineering, was founded in 1951 to promote, by scientific research, the development of all aspects of manufacturing technology covering the optimization, control and management of processes, machines and systems. This biannual ISI cited journal contains approximately 140 refereed technical and keynote papers. Subject areas covered include: Assembly, Cutting, Design, Electro-Physical and Chemical Processes, Forming, Abrasive processes, Surfaces, Machines, Production Systems and Organizations, Precision Engineering and Metrology, Life-Cycle Engineering, Microsystems Technology (MST), Nanotechnology.