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Compensating pose uncertainties through appropriate gripper finger cutouts

Wolniakowski A., Gams M., Kramberger A., Miatliuk K., Kiforenko L., Petersen H. G., Hagelskjaer F., Buch A. G., Krüger N., Chrysostomou D., Madsen O., Ude A.

Acta Mechanica et Automatica

2018

Vol. 12, no. 1

78--83

The gripper finger design is a recurring problem in many robotic grasping platforms used in industry. The task of switching the gripper configuration to accommodate for a new batch of objects typically requires engineering expertise, and is a lengthy and costly iterative trial-and-error process. One of the open challenges is the need for the gripper to compensate for uncertainties inherent to the workcell, e.g. due to errors in calibration, inaccurate pose estimation from the vision system, or object deformation. In this paper, we present an analysis of gripper uncertainty compensating capabilities in a sample industrial object grasping scenario for a finger that was designed using an automated simulation-based geometry optimization method (Wolniakowski et al., 2013, 2015). We test the developed gripper with a set of grasps subjected to structured perturbation in a simulation environment and in the real-world setting. We provide a comparison of the data obtained by using both of these approaches. We argue that the strong correspondence observed in results validates the use of dynamic simulation for the gripper finger design and optimization.

Validation of a new hyperviscoelastic model for deformable polymers used for joints between rc frames and masonry infills

Kwiecień A., Gams M., Rousakis T., Viscovic A., Korelc A.

Engineering Transactions

2017

Vol. 65, iss. 1

113--121

In the paper, an attempt to alleviate the problem of premature damage to infills by using flexible polymers between the infill and the r.c. frame is presented. The flexibility of the polymer could serve to reduce the stress concentrations and thereby reduce damage to infills on one hand, and provide a high amount of damping and ductility on the other. Its efficiency is tested by cyclic shear tests carried out on a large-scale model. In the numerical part, the material is modelled using for the purpose developed finite element. The finite element with the new hyperviscoelastic constitutive model was coded in the AceGen/AceFEM program.