Analysis of flexible end-effector for geometric conformity in reconfigurable assembly systems: Testing geometric structure of grasping mechanism for object adaptibility

摘要

Advancements in production heading towards cyber-physical systems has entertained the prospects of the fourth industrial revolution. Research in robotic assembly methods was essential in the development of efficient production systems. Complex and integrated assembly processes with respect to successful end-effector gripping and biologically inspired gripper appendage incorporation were investigated. Appendages were designed specifically for the versatility of grasping used within pickup and placement procedures in assembly lines. The aim was to research and investigate gripping properties of gripping appendages based on the Fin Ray Effect <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">®</sup> . The Fin Ray Effect <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">®</sup> is a naturally occurring phenomenon based on the movement of fish fins concerning the specific spline/rib structure within the fin itself. Through stress and displacement simulations, conditions have been simulated to illustrate the deflection of the spine structures. In addition, the stress simulation determined various degrees of conformity that can be potentially achieved. The deflection of the wall of the structure represents the value of conformity within a gripping procedure. Significant interpretations were made from the investigation of geometric shape compliance from the interaction of the gripper and the force factors required for gripping an object. Varying rib structures were developed and tested according to a sample mass holding load.