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  • 1.
    Honarpardaz, Mohammadali
    Linköping University, Department of Management and Engineering, Machine Design. Linköping University, Faculty of Science & Engineering.
    Finger Design Automation for Industrial Robots: A Generic and Agile Approach2018Doctoral thesis, comprehensive summary (Other academic)
    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.

    List of papers
    1. Finger design automation for industrial robot grippers: A review
    Open this publication in new window or tab >>Finger design automation for industrial robot grippers: A review
    2017 (English)In: ROBOTICS AND AUTONOMOUS SYSTEMS, ISSN 0921-8890, Vol. 87, p. 104-119Article, review/survey (Refereed) Published
    Abstract [en]

    Designing robust end-effector plays a crucial role, in performance of a robot workcell. Design automation of industrial grippers fingers/jaws is therefore of the highest interest in the robot industry. This paper systematically reviews the enormous studies performed in relevant research areas for finger design automation. Key processes for successfully achieving automatic finger design are identified and research contributions in each key process are critically reviewed. The proposed approaches in each key process are analyzed, verified and benchmarked. The most promising methods to accomplish finger design automation are highlighted and presented. (C) 2016 Elsevier B.V. All rights reserved.

    Place, publisher, year, edition, pages
    ELSEVIER SCIENCE BV, 2017
    Keywords
    Grippers fingers; Design automation; Grasp synthesis; Grasp analysis
    National Category
    Robotics
    Identifiers
    urn:nbn:se:liu:diva-134073 (URN)10.1016/j.robot.2016.10.003 (DOI)000390507700008 ()
    Note

    Funding Agencies|European Community [644938 - SARAFun]

    Available from: 2017-01-26 Created: 2017-01-22 Last updated: 2018-02-09
    2. GENERIC AUTOMATED FINGER DESIGN
    Open this publication in new window or tab >>GENERIC AUTOMATED FINGER DESIGN
    Show others...
    2016 (English)In: PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2016, VOL 5B, AMER SOC MECHANICAL ENGINEERS , 2016, article id V05BT07A071Conference paper, Published paper (Refereed)
    Abstract [en]

    Finger design automation for grippers is one of the areas of highest interest for robot industries. The few studies that have been carried out in the finger design automation research area are limited to objects with specific geometrical properties (e.g. polyhedral). This paper introduces the Generic Automated Finger Design (GAFD) method that contains the essential key processes for automatic design of reliable fingers. The proposed method is implemented on two geometrically complex workpieces and appropriate fingers are designed. The results are discussed in detail and benchmarked against existing approaches.

    Place, publisher, year, edition, pages
    AMER SOC MECHANICAL ENGINEERS, 2016
    National Category
    Interaction Technologies
    Identifiers
    urn:nbn:se:liu:diva-135414 (URN)10.1115/DETC2016-60514 (DOI)000393365000071 ()978-0-7918-5016-9 (ISBN)
    Conference
    ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE)
    Note

    Funding Agencies|European Community [644938]

    Available from: 2017-03-14 Created: 2017-03-14 Last updated: 2018-02-09
    3. Generic Automated Multi-function Finger Design
    Open this publication in new window or tab >>Generic Automated Multi-function Finger Design
    Show others...
    2016 (English)In: 2016 SECOND INTERNATIONAL CONFERENCE ON MECHANICAL ENGINEERING AND AUTOMATION SCIENCE (ICMEAS 2016), IOP PUBLISHING LTD , 2016, Vol. 157, article id 012015Conference paper, Published paper (Refereed)
    Abstract [en]

    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.

    Place, publisher, year, edition, pages
    IOP PUBLISHING LTD, 2016
    Series
    IOP Conference Series-Materials Science and Engineering, ISSN 1757-8981
    National Category
    Construction Management
    Identifiers
    urn:nbn:se:liu:diva-133767 (URN)10.1088/1757-899X/157/1/012015 (DOI)000389913900014 ()
    Conference
    2nd International Conference on Mechanical Engineering and Automation Science (ICMEAS)
    Available from: 2017-01-09 Created: 2017-01-09 Last updated: 2018-03-22
    4. Experimental verification of design automation methods for robotic finger
    Open this publication in new window or tab >>Experimental verification of design automation methods for robotic finger
    2017 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 94, p. 89-101Article in journal (Refereed) Published
    Abstract [en]

    Design automation of industrial grippers is a hot research topic for robot industries. However, literature lacks a standard experimental method to enable researchers to validate their approaches. Thus, this paper proposes a generic experimental method to verify existing finger design approaches. The introduced method is utilized to validate the methods Generic Automated Finger Design (GAFD), Manually Designed Fingers (MDF) and the eGrip tool. Experimental results are compared and the strengths and weaknesses of each method are presented. (C) 2017 The Authors. Published by Elsevier B.V.

    Place, publisher, year, edition, pages
    ELSEVIER SCIENCE BV, 2017
    Keywords
    Grippers; Fingers; Design automation; Robotics; Experimental method
    National Category
    Robotics
    Identifiers
    urn:nbn:se:liu:diva-139386 (URN)10.1016/j.robot.2017.04.011 (DOI)000404201700009 ()
    Note

    Funding Agencies|European Communitys Framework Programme Horizon 2020 [644938 - SARAFun]

    Available from: 2017-08-07 Created: 2017-08-07 Last updated: 2018-02-09
    5. Fast Grasp Tool Design: From Force to Form Closure
    Open this publication in new window or tab >>Fast Grasp Tool Design: From Force to Form Closure
    2017 (English)In: 2017 13th IEEE Conference on Automation Science and Engineering (CASE), IEEE , 2017Conference paper, Published paper (Refereed)
    Abstract [en]

    We present a novel technique which integratesautomatic, part centered design of customized fingertips with agrasp planning stage for arbitrary parts of an assembly process.Starting with a set of CAD models of parts in an assemblysequence, force closure grasps are generated for each part in asampling process. By employing the sampled force closure grasppositions in the second stage, the fingertip shape model isadapted to obtain form closure grasps at the specific grasplocations on the part. This approach significantly reduces theprocess time of designing fingers. Furthermore, the methodincreases the robustness of the fingers grasp for preciseassemblies. The proposed fast generic automated finger design(FGAFD) method is able to design fingers for variousgeometrically complex workpieces. The designed fingers areexperimentally verified. The results are discussed in detail andbenchmarked against existing approaches.

    Place, publisher, year, edition, pages
    IEEE, 2017
    Series
    Conference on Automation Science and Engineering (CASE), ISSN 2161-8089
    Keywords
    Grasp Planning; Finger Design; Design Automation; Grasp Synthesis; Robotics;
    National Category
    Robotics
    Identifiers
    urn:nbn:se:liu:diva-143804 (URN)10.1109/COASE.2017.8256199 (DOI)978-1-5090-6781-7 (ISBN)978-1-5090-6782-4 (ISBN)
    Conference
    Conference on Automation Science and Engineering (CASE), 20-23 Aug. 2017
    Projects
    SARAFun
    Funder
    EU, Horizon 2020, 644938
    Available from: 2017-12-18 Created: 2017-12-18 Last updated: 2018-07-03
    6. Fast finger design automation for industrial robots
    Open this publication in new window or tab >>Fast finger design automation for industrial robots
    2019 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 113, p. 120-131Article in journal (Refereed) 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.

    Place, publisher, year, edition, pages
    Elsevier, 2019
    Keywords
    Design automation, Fingers design, Multi-function fingers, Industrial grippers, Optimization, Robotics
    National Category
    Design Robotics
    Identifiers
    urn:nbn:se:liu:diva-153950 (URN)10.1016/j.robot.2018.12.011 (DOI)000459358000010 ()2-s2.0-85060074455 (Scopus ID)
    Note

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

    Available from: 2019-01-21 Created: 2019-01-21 Last updated: 2019-03-29Bibliographically approved
  • 2.
    Honarpardaz, Mohammadali
    et al.
    ABB Corporate Research, Västerås, Sweden.
    Andersson (Ölvander), Johan
    Linköping University, Department of Management and Engineering, Machine Design. Linköping University, Faculty of Science & Engineering.
    Tarkian, Mehdi
    Linköping University, Department of Management and Engineering, Machine Design. Linköping University, Faculty of Science & Engineering.
    Fast finger design automation for industrial robots2019In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 113, p. 120-131Article in journal (Refereed)
    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.

    The full text will be freely available from 2020-01-11 11:40
  • 3.
    Honarpardaz, Mohammadali
    et al.
    ABB Corporate Research, Västerås, Sweden.
    Meier, Martin
    Neuroinformatics Group, Center of Excellence Cognitive Interaction Technology (CITEC), Bielefeld University, Germany.
    Haschke, Robert
    Neuroinformatics Group, Center of Excellence Cognitive Interaction Technology (CITEC), Bielefeld University, Germany.
    Fast Grasp Tool Design: From Force to Form Closure2017In: 2017 13th IEEE Conference on Automation Science and Engineering (CASE), IEEE , 2017Conference paper (Refereed)
    Abstract [en]

    We present a novel technique which integratesautomatic, part centered design of customized fingertips with agrasp planning stage for arbitrary parts of an assembly process.Starting with a set of CAD models of parts in an assemblysequence, force closure grasps are generated for each part in asampling process. By employing the sampled force closure grasppositions in the second stage, the fingertip shape model isadapted to obtain form closure grasps at the specific grasplocations on the part. This approach significantly reduces theprocess time of designing fingers. Furthermore, the methodincreases the robustness of the fingers grasp for preciseassemblies. The proposed fast generic automated finger design(FGAFD) method is able to design fingers for variousgeometrically complex workpieces. The designed fingers areexperimentally verified. The results are discussed in detail andbenchmarked against existing approaches.

  • 4.
    Honarpardaz, Mohammadali
    et al.
    Linköping University, Department of Management and Engineering. Linköping University, Faculty of Science & Engineering. ABB, Sweden.
    Tarkian, Mehdi
    Linköping University, Department of Management and Engineering, Machine Design. Linköping University, Faculty of Science & Engineering.
    Sirkett, D.
    ABB, Sweden.
    Ölvander, Johan
    Linköping University, Department of Management and Engineering, Machine Design. Linköping University, Faculty of Science & Engineering.
    Feng, Xiaolong
    Linköping University, Department of Management and Engineering, Machine Design. Linköping University, Faculty of Science & Engineering. ABB, Sweden.
    Elf, J.
    Linköping University, Department of Management and Engineering, Machine Design. Linköping University, Faculty of Science & Engineering.
    Sjögren, R.
    Linköping University, Department of Management and Engineering, Machine Design. Linköping University, Faculty of Science & Engineering.
    Generic Automated Multi-function Finger Design2016In: 2016 SECOND INTERNATIONAL CONFERENCE ON MECHANICAL ENGINEERING AND AUTOMATION SCIENCE (ICMEAS 2016), IOP PUBLISHING LTD , 2016, Vol. 157, article id 012015Conference paper (Refereed)
    Abstract [en]

    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.

  • 5.
    Honarpardaz, Mohammadali
    et al.
    Linköping University, Department of Management and Engineering. Linköping University, Faculty of Science & Engineering. ABB Corporate Research Centre, Sweden.
    Tarkian, Mehdi
    Linköping University, Department of Management and Engineering, Machine Design. Linköping University, Faculty of Science & Engineering.
    Ölvander, Johan
    Linköping University, Department of Management and Engineering, Machine Design. Linköping University, Faculty of Science & Engineering.
    Feng, X.
    ABB Corporate Research Centre, Sweden.
    Experimental verification of design automation methods for robotic finger2017In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 94, p. 89-101Article in journal (Refereed)
    Abstract [en]

    Design automation of industrial grippers is a hot research topic for robot industries. However, literature lacks a standard experimental method to enable researchers to validate their approaches. Thus, this paper proposes a generic experimental method to verify existing finger design approaches. The introduced method is utilized to validate the methods Generic Automated Finger Design (GAFD), Manually Designed Fingers (MDF) and the eGrip tool. Experimental results are compared and the strengths and weaknesses of each method are presented. (C) 2017 The Authors. Published by Elsevier B.V.

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  • harvard1
  • ieee
  • modern-language-association-8th-edition
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