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A novel gripper design for multi hand tools grasping under tight clearance constraints and external torque effect

机译：一种新颖的抓手设计，适用于在狭窄间隙和外部扭矩影响下抓紧的多手工具

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摘要

A robotic multi tool gripper design and implementation is presented in this paper. The proposed design targets applications where an actuation task is performed using a wide selection of standard hand tools. The manipulation motion is assumed to be rotational which requires a firm grip to account for external torque on the grasped tool. The setup is assumed to be a conventional workshop panel with hand tools being hanged close to each other, which constraints lateral clearance around the target, and near the wall of the panel, which constraints the depth clearance. Off the shelf grippers are mostly heavy and bulky which make them unsuitable for these requirements. Moreover, they are not optimized in terms of power consumption, simplicity and compactness. These generic grippers are mostly designed for pick and place tasks where no external torques other than those caused by the object weight affects the gripper. The design challenge involves building a gripper that is capable of operating in limited clearance space, firmly grip a variety of standard hand tools with different sizes and shapes. The proposed design is optimized for these objectives and offers a low cost and power consumption solution. The design has been validated in lab and outdoor experiments and has been deployed in real operating platform used in an international robotics competition.
机译：本文介绍了一种机器人多工具抓爪的设计和实现。提出的设计针对使用多种标准手动工具执行致动任务的应用。假定该操纵运动是旋转的，这需要牢固的抓握以解决所握持工具上的外部扭矩。假定设置为常规车间面板，其中手动工具彼此靠近悬挂，这限制了目标周围的横向间隙，而在面板的壁附近限制了深度间隙。现成的夹持器大多笨重且笨重，因此不适合这些要求。而且，它们在功耗，简单性和紧凑性方面没有进行优化。这些通用抓手主要用于拾取和放置任务，除物体重量引起的外部扭矩影响外，其他任何外部扭矩均不会影响抓手。设计上的挑战包括制造一种能够在有限的间隙空间内操作的抓具，牢牢地抓握各种尺寸和形状不同的标准手动工具。拟议的设计针对这些目标进行了优化，并提供了一种低成本和功耗解决方案。该设计已在实验室和室外实验中得到验证，并已部署在国际机器人竞赛中使用的实际操作平台中。

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