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Fast finger design automation for industrial robots
ABB Corporate Research, Västerås, Sweden.
Linköpings universitet, Institutionen för ekonomisk och industriell utveckling, Maskinkonstruktion. Linköpings universitet, Tekniska fakulteten.
Linköpings universitet, Institutionen för ekonomisk och industriell utveckling, Maskinkonstruktion. Linköpings universitet, Tekniska fakulteten.
2019 (engelsk)Inngår i: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 113, s. 120-131Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

Finger design automation is highly demanded from robot industries to fulfill the requirements of the agile market. Nevertheless, literature lacks a promising approach to automate the design process of reliable fingers for industrial robots. Hence, this work proposes the generic optimized finger design (GOFD) method which automates the design process of single- and multi-function finger grippers. The proposed method includes an optimization algorithm to minimize the design process time. The method is utilized to generate fingers for several groups of objects. Results show that the GOFD method outperforms existing methods and is able to reduce the design time by an average of 16,600 s. While the proposed method substantially reduces the design process time of fingers, the quality of grasps is comparable to the traditional exhaustive search method. The grasp quality of GOFD deviates only 0.47% from the absolute best grasp known from the exhaustive search method in average. The designed fingers are lastly manufactured and experimentally verified.

sted, utgiver, år, opplag, sider
Elsevier, 2019. Vol. 113, s. 120-131
Emneord [en]
Design automation, Fingers design, Multi-function fingers, Industrial grippers, Optimization, Robotics
HSV kategori
Identifikatorer
URN: urn:nbn:se:liu:diva-153950DOI: 10.1016/j.robot.2018.12.011ISI: 000459358000010Scopus ID: 2-s2.0-85060074455OAI: oai:DiVA.org:liu-153950DiVA, id: diva2:1280983
Merknad

Funding agencies: European Communitys Framework Programme Horizon 2020 [644938 - SARAFun]

Tilgjengelig fra: 2019-01-21 Laget: 2019-01-21 Sist oppdatert: 2019-03-29bibliografisk kontrollert
Inngår i avhandling
1. Finger Design Automation for Industrial Robots: A Generic and Agile Approach
Åpne denne publikasjonen i ny fane eller vindu >>Finger Design Automation for Industrial Robots: A Generic and Agile Approach
2018 (engelsk)Doktoravhandling, med artikler (Annet vitenskapelig)
Abstract [en]

ROBOT fingers play a crucial role in the success and performance of workcells, as fingers are the only interfaces that connect the robot to the physical working environment. Fingers are responsible for grasping and manipulating workpieces without dropping or damaging them. Designing industrial robot fingers to accomplish assigned tasks is therefore tremendously complex and requires high skills in robotics and designing at the same time.

Today, there is a trend toward products with short lifecycles and, as a result, many robot industries have focused on enhancing the competitiveness of robotic automation in the agile market. SARAFun and Factory-in-a-day are two large European Commission projects which are formed to enable a non-expert user to integrate a robot system for an assembly task in one single day. Currently, fingers of industrial grippers (e.g. parallel- jaw) are designed manually, a process that requires several exhaustive and time- consuming trial and error iterations even for highly skilled specialists. The average iteration time is about three to four working days and the total time for designing fingers can amount to around two weeks depending on the complexity requirements.

The present iterative procedure of manual finger design is unable to fulfil the demands of ‘‘burst’’ production (i.e. ramp up to full volume in a very short time, run production for 3–12 months, and then change to produce a new product). Finger design automation has therefore been increasingly attracting the attention of the robot industry. However, very few researchers have studied finger design automation and unfortunately no one has validated the proposed approaches with a generic experimental method.

This research therefore proposes the generic optimized finger design (GOFD) framework in order to automate the design process of robotic fingers. The framework is optimized to reduce the design process time while maintaining high reliability and performance of the fingers. The functionality and general applicability of the framework is examined in various case studies and applications with a diverse range of workpieces. In order to be able to benchmark the functionality of robotic fingers, an experimental method is also developed to measure the stability and performance of the fingers in industrial practice. The proposed experimental method is employed to evaluate the functionality of the GOFD fingers and compare it with that of other fingers. Results are comprehensively analysed and the strengths and weaknesses of each method are highlighted. This thesis thus presents a design automation processes that automates the design procedure for robotic fingers, together with an experimental method to compare the performance of different finger designs. The introduced GOFD method can help robot industries comply with the trending agile market. Moreover, scholars who are inexpert in robotics may benefit from utilizing GOFD in their research to generate functional fingers.

sted, utgiver, år, opplag, sider
Linköping: Linköping University Electronic Press, 2018. s. 61
Serie
Linköping Studies in Science and Technology. Dissertations, ISSN 0345-7524 ; 1917
HSV kategori
Identifikatorer
urn:nbn:se:liu:diva-145081 (URN)9789176853436 (ISBN)
Disputas
2018-03-01, ACAS, A-huset, Campus Valla, Linköping, 10:15 (engelsk)
Opponent
Veileder
Forskningsfinansiär
EU, Horizon 2020, 644938 – SARAFun
Tilgjengelig fra: 2018-02-09 Laget: 2018-02-09 Sist oppdatert: 2019-01-21bibliografisk kontrollert

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