The number of sequential tasks a single gripper can perform is significantly limited by its design. In many cases, changing the gripper fingers is required to successfully conduct multiple consecutive tasks. For this reason, several robotic tool change systems have been introduced that allow an automatic changing of the entire end-effector. However, many situations require only the modification or the change of the fingertip, making the exchange of the entire gripper uneconomic. In this paper, we introduce a paradigm for automatic task-specific fingertip production. The setup used in the proposed framework consists of a production and task execution unit, containing a robotic manipulator, and two 3D printers - autonomously producing the gripper fingers. It also consists of a second manipulator that uses a quick-exchange mechanism to pick up the printed fingertips and evaluates gripping performance. The setup is experimentally validated by conducting automatic production of three different fingertips and executing graspstability tests as well as multiple pick- and insertion tasks, with and without position offsets - using these fingertips. The proposed paradigm, indeed, goes beyond fingertip production and serves as a foundation for a fully automatic fingertip design, production and application pipeline - potentially improving manufacturing flexibility and representing a new production paradigm: tactile 3D manufacturing.
翻译:单抓手能够完成的顺序任务数量因其设计而大受限制。 在许多情况下, 要成功完成多个连续任务, 需要改变抓手手指, 才能成功完成多个连续任务。 为此原因, 引入了数个机器人工具改变系统, 允许自动改变整个终端效果。 但是, 许多情况下只需要修改或更改指尖, 使整个抓手的交换变得不经济。 在本文中, 我们引入了自动任务特定指尖生产模式 。 拟议框架中使用的设置包括一个生产和任务执行单位, 包含一个机器人操纵器, 和两台三维打印机 - 自动生成抓手手指。 它还包括一个第二个操作器, 使用一个快速交换机制来抓取印刷指尖并评估控制性能。 设置是实验性的验证, 通过自动生产三个不同指尖, 以及使用多个接和插入任务, 以及使用这些指尖( 且不设位置) 。 拟议的模式实际上超越了指尖( 指尖), 和两台三台打印机 - 用作一个基础, 代表了一个新的制造模式( 3 ) 。