Design and planning of a novel modular end-effector for agile assembly

Author

Hong, Miao ; Payandeh, Shahram

Author_Institution

Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada

Volume

2

fYear

1997

fDate

20-25 Apr 1997

Firstpage

1529

Abstract

We present a design of end-effector that is flexible enough to be able to manipulate a variety of objects in assembly tasks. Modularity and reconfigurability will be a unifying trait of this design. As a result, the grasp stability is improved and the total grasp force is reduced by adding the extra side contact constraints. At the same time we present a complete grasp planning algorithm for the end-effector. The grasp planning algorithm, based on a generate and test paradigm, enumerates grasp configurations. Candidate grasp configurations are generated using heuristics. The test phase involves checking each simultaneous contact configuration for force closure. The resulting grasp configurations are then examined for stability

Keywords

assembling; industrial manipulators; path planning; search problems; solid modelling; agile assembly; assembly tasks; force closure; generate and test paradigm; grasp configurations; grasp planning algorithm; grasp stability; modular end-effector; modularity; reconfigurability; side contact constraints; stability; total grasp force; Costs; Fixtures; Grippers; Laboratories; Production; Robotic assembly; Solids; Springs; Stability; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.614357

Filename

614357