Automatic simulation-based design and validation of robotic gripper fingers

Autor:	Aswin K Ramasubramanian, Matthew Connolly, Robins Mathew, Nikolaos Papakostas
Jazyk:	angličtina
Rok vydání:	2022
Předmět:	Design Mechanical Engineering Physics-based simulation Product Development Industrial and Manufacturing Engineering
Zdroj:	CIRP Annals
DOI:	10.5281/zenodo.7233390
Popis:	The design of robotic gripper fingers is a complex process and often requires significant effort and time. This paper investigates a method to automatically generate new iterations of the gripper finger design as well as to validate its performance in a simulation environment. A Computer-Aided Design (CAD) software platform and a physics-based simulation framework are deployed to work in tandem to redesign and validate an initial gripper finger design aiming at reducing the overall time and cost required for physical validation. The proposed approach is validated in a real robotic case scenario, performing a series of pick and place tasks.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::65c1fdaac6b98ea1df66e466e43bbaed Zobrazit plný text záznamu