论文标题
软jig驱动的组装操作
Soft-Jig-Driven Assembly Operations
论文作者
论文摘要
为了设计一个可以处理各种形状对象的通用装配机器人系统，我们提出了一个适合组装零件形状的软夹具。软夹具的功能基于软机器人技术领域中开发的干扰者。软夹具的袋子上有一个可延展的硅胶膜，该膜具有高摩擦，伸长率和收缩率，可将零件保持固定。袋子里装满了玻璃珠，以实现堵塞的过渡。我们提出了一种基于触点关系，可伸向方向和固定在夹具上的零件的重心的软夹具上固定零件的方法。根据零件的各种形状和姿势的固定性能和多功能性，对软夹具的可用性进行了评估。
To design a general-purpose assembly robot system that can handle objects of various shapes, we propose a soft jig that fits to the shapes of assembly parts. The functionality of the soft jig is based on a jamming gripper developed in the field of soft robotics. The soft jig has a bag covered with a malleable silicone membrane, which has high friction, elongation, and contraction rates for keeping parts fixed. The bag is filled with glass beads to achieve a jamming transition. We propose a method to configure parts-fixing on the soft jig based on contact relations, reachable directions, and the center of gravity of the parts that are fixed on the jig. The usability of the soft jig was evaluated in terms of the fixing performance and versatility for various shapes and postures of parts.
