TY - GEN
T1 - Design of handling device for caging and aligning circular objects
AU - Hirata, Yasuhisa
AU - Kaisumi, Aya
AU - Yamaguchi, Kengo
AU - Kosuge, Kazuhiro
N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].
PY - 2011
Y1 - 2011
N2 - In this study, we consider the development of a device for handling small parts for automatic product assembly in factories. Many robotic hands and one-degree-of-freedom grippers have been proposed as grasping parts; here, we focus on the shape of the tips of a handling device for picking up small parts robustly and agilely. In this research, we propose a concept for a handling device for picking up small round parts. In this concept, the handling device 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. Using this caging and self-alignment concept, the handling device can pick up objects robustly and agilely. In this paper, we focus on a method for designing the shape of the device's tips using the concept of caging and self-alignment of objects. We also develop the robust and agile pickup device (RAPiD) with tips designed by the new method and present experimental results that illustrate the validity of the concept and the ability of RAPiD to handle small parts. © 2011 IEEE.
AB - In this study, we consider the development of a device for handling small parts for automatic product assembly in factories. Many robotic hands and one-degree-of-freedom grippers have been proposed as grasping parts; here, we focus on the shape of the tips of a handling device for picking up small parts robustly and agilely. In this research, we propose a concept for a handling device for picking up small round parts. In this concept, the handling device 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. Using this caging and self-alignment concept, the handling device can pick up objects robustly and agilely. In this paper, we focus on a method for designing the shape of the device's tips using the concept of caging and self-alignment of objects. We also develop the robust and agile pickup device (RAPiD) with tips designed by the new method and present experimental results that illustrate the validity of the concept and the ability of RAPiD to handle small parts. © 2011 IEEE.
UR - https://www.scopus.com/pages/publications/84871682124
UR - https://www.scopus.com/pages/publications/84871682124#tab=impact
U2 - 10.1109/ICRA.2011.5980502
DO - 10.1109/ICRA.2011.5980502
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4370
EP - 4377
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -