Grasping complex casting shapes with an underactuated parallel jaw gripper on an industrial robot Public Deposited

http://ir.library.oregonstate.edu/concern/graduate_thesis_or_dissertations/tt44pr75h

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  • Steel foundries are in great need of automation as current operations involve many hazardous manual tasks. Automating foundry operations is very challenging due to the variety of tasks that must be performed on physical objects that vary significantly in size, shape, and weight. This thesis focuses on robotically automating the material handling operation in the foundry by designing an underactuated parallel jaw robotic gripper that can handle a variety of foundry products regardless of their shape. This design is driven by a linear underactuated system composed of a series of coupled hydraulic pistons that enable the gripper to securely grasp objects by conforming to their shape. In the course of evaluating this problem, two main contributions have emerged: (i) A method is presented that uses physics-based simulations to optimize the design of the underactuated parallel jaw gripper for grasping a variety of steel foundry operations. (ii) The resultant design is then validated on a physical industrial robot to show that the underactuated parallel jaw gripper is 30% more effective at grasping typical casting shapes when compared with the standard parallel jaw gripper and 280% better than a similar underactuated robot gripper using revolute fingers.
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