2 research outputs found
Designing a Mechanical Tool for Robots with 2-Finger Parallel Grippers
This work designs a mechanical tool for robots with 2-finger parallel
grippers, which extends the function of the robotic gripper without additional
requirements on tool exchangers or other actuators. The fundamental kinematic
structure of the mechanical tool is two symmetric parallelograms which transmit
the motion of the robotic gripper to the mechanical tool. Four torsion springs
are attached to the four inner joints of the two parallelograms to open the
tool as the robotic gripper releases. The forces and transmission are analyzed
in detail to make sure the tool reacts well with respect to the gripping forces
and the spring stiffness. Also, based on the kinematic structure, variety
tooltips were designed for the mechanical tool to perform various tasks. The
kinematic structure can be a platform to apply various skillful gripper
designs. The designed tool could be treated as a normal object and be picked up
and used by automatically planned grasps. A robot may locate the tool through
the AR markers attached to the tool body, grasp the tool by selecting an
automatically planned grasp, and move the tool from any arbitrary pose to a
specific pose to grip objects. The robot may also determine the optimal grasps
and usage according to the requirements of given tasks
Combined Task and Motion Planning for a Dual-arm Robot to Use a Suction Cup Tool
This paper proposes a combined task and motion planner for a dual-arm robot
to use a suction cup tool. The planner consists of three sub-planners -- A
suction pose sub-planner and two regrasp and motion sub-planners. The suction
pose sub-planner finds all the available poses for a suction cup tool to suck
on the object, using the models of the tool and the object. The regrasp and
motion sub-planner builds the regrasp graph that represents all possible grasp
sequences to reorient and move the suction cup tool from an initial pose to a
goal pose. Two regrasp graphs are used to plan for a single suction cup and the
complex of the suction cup and an object respectively. The output of the
proposed planner is a sequence of robot motion that uses a suction cup tool to
manipulate objects following human instructions. The planner is examined and
analyzed by both simulation experiments and real-world executions using several
real-world tasks. The results show that the planner is efficient, robust, and
can generate sequential transit and transfer robot motion to finish complicated
combined task and motion planning tasks in a few seconds