TY - GEN
T1 - Design of parts handling and gear assembling device
AU - Yamaguchi, Kengo
AU - Hirata, Yasuhisa
AU - Kaisumi, Aya
AU - Kosuge, Kazuhiro
PY - 2012/1/1
Y1 - 2012/1/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84864469878&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84864469878&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2012.6225157
DO - 10.1109/ICRA.2012.6225157
M3 - Conference contribution
AN - SCOPUS:84864469878
SN - 9781467314039
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2570
EP - 2577
BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Y2 - 14 May 2012 through 18 May 2012
ER -