Designing for task oriented grasps in robotic assembly

Abstract

The objective is to develop a flexible robot assembly system capable of economically switching between a wide range of product assemblies. Towards this goal, this paper introduces grasping as a principle issue in designing for flexibility in a robot system. The task, sensing, and certainty about actions are the primary factors in grasp decisions and not where to grasp the part. Identifying finger features, which satisfy a broad range of tasks reduces the likelihood of re‐tooling, and improves certainty about part location and relative orientation. Aided by the ability to address a broad range of tasks, design rules are established which assimilate grasps to part design.

Citation

Lowe, G. and Shirinzadeh, B. (2003), "Designing for task oriented grasps in robotic assembly", Assembly Automation, Vol. 23 No. 1, pp. 43-52. https://doi.org/10.1108/01445150310460088