Selecting and Designing Grippers for an Assembly Task in a Structured Approach

In this paper, we present a structured approach of selecting and designing a set of grippers for an assembly task. Compared to current experience-based gripper design method, our approach accelerates the design process by automatically generating a set of initial design options on gripper type and parameters according to the CAD models of assembly components. We use mesh segmentation techniques to segment the assembly components and fit the segmented parts with shape primitives, according to the predefined correspondence between primitive shape and gripper type, suitable gripper types and parameters can be selected and extracted from the fitted shape primitives. Then considering the assembly constraints, applicable gripper types and parameters can be filtered from the initial options. Among the applicable gripper configurations, we further minimize the required number of grippers for performing the assembly task, by exploring the gripper that is able to handle multiple assembly components during the assembly. Finally, the feasibility of the designed grippers are experimentally verified by assembling a part of an industrial product.