倾覆图:设计零件送料引脚顺序

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI:10.1109/ROBOT.2000.844051

Zhang Tao, Gordon Smith, Robert-Paul Berretty, M. Overmars, Ken Goldberg

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引用次数: 17

摘要

我们考虑了一种无传感器的方法，在传送带上使用销钉(刚性屏障)将零件倾倒到所需的方向。给定n面凸多面体零件的二维投影、质心和摩擦系数，给出了一种O(n/sup 2/)算法来计算“倾覆图”，这是一种新的数据结构，表示倾覆的力学，包括滚动和干扰。倾覆图可用于确定允许倾覆的临界销钉高度。我们将图预测的引脚高度与物理实验进行了比较，给出了一个完整的O(n/sup 3n/)算法来设计引脚序列。

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The toppling graph: designing pin sequences for part feeding

We consider a sensorless approach to feeding parts on a conveyor belt using pins (rigid barriers) to topple parts into desired orientations. Given the 2D projection of an n-sided convex polyhedral part, its center of mass, and coefficients of friction, we give an O(n/sup 2/) algorithm to compute the "toppling graph", a new data structure that represents the mechanics of toppling, including rolling and jamming. The toppling graph can be used to identify critical pin heights that permit toppling. We compare pin heights predicted by the graph with physical experiments, and give a complete O(n/sup 3n/) algorithm for designing pin sequences.

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Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)

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