ICRA 2012 Paper Abstract

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Paper WeB08.1

Yamaguchi, Kengo (Tohoku University), Hirata, Yasuhisa (Tohoku University), Kaisumi, Aya (Tohoku University), Kosuge, Kazuhiro (Tohoku University)

Design of Parts Handling and Gear Assembling Device

Scheduled for presentation during the Regular Session "Parts Handling and Manipulation" (WeB08), Wednesday, May 16, 2012, 10:30−10:45, Meeting Room 8 (Wacipi)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on February 24, 2018

Keywords Factory Automation, Grasping, Industrial Robots

Abstract

Many one-degree-of-freedom (1-DOF) grippers have been used in factories. This paper focuses on the design of the 1-DOF parts handling device for picking up small objects robustly and agilely and realizing assembly tasks. In our conventional research, we proposed a concept for the handling device, which cages an object without letting the object escape from its tips before closing them completely and then grasps the object robustly at a unique position of the tips. In this paper, we propose a method for designing the shape of the device's tips by considering not only the caging and self-alignment of the object but also the gear assembly task. We also develop the robust and agile pick-up device (RAPiD) with tips designed by the new method and present experimental results that illustrate the ability of RAPiD to handle and assemble gears.

 

 

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