Validating object conformity through geometric considerations of gripper mechanisms

Abstract

Assembly process complexity in the production of manufactured products has received considerable attention in recent years. With the growing trend towards cyber-physical systems and the fourth industrial revolution, assembly research efforts must aim to develop efficient production systems incorporating robotic arms and flexible fixtures. The aim of the research was to investigate end effector and robotic appendage incorporation within assembly based pick and place applications incorporating product shape complexity and variety. In particular, the fin ray type end effector was considered during numerical and physical testing. Particular attention was placed on object conformity and the impact of end effector geometric shape on surface compliance. In particular, the fin ray effect <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">®</sup> type end effector was considered during numerical and physical testing. Particular attention was placed on object conformity and the impact of end effector geometric shape on surface compliance. Previous research has proven that biological influences into robotic manipulation processes has proven to be valuable. The paper presents a control system that was conceptually designed with the gripper, which operates hand-in-hand with object manipulation for analyzing the force-time characteristics of a clamped object in motion of an operation movement.