Integration of a dual robot configuration in the grasping and manipulation process of commercial goods

• Κύριος συγγραφέας: Ξυθάλης, Σωτήριος - Μάριος
• Άλλοι συγγραφείς: Μούρτζης, Δημήτριος
• Μορφή: Thesis
• Γλώσσα: English
• Έκδοση: 2018
• Θέματα: Gripper; Flexibility; Robotics; Versatile robotic cells; Ευελιξία; Ρομποτική; Ευέλικτα ρομποτικά κελιά; 629.893 3

The main objective of this thesis is to integrate a single or dual robotic arm(s) in the production line of consumer goods industry, specifically for the grasping and manipulation of parts fed in random positions and orientations and the assembly of parts to create final products. Implementation of such a solution could dramatically increase flexibility compared to a current production method that is based on vibratory feeder bowls or similar devices, which are product specific. A key element of the procedure for satisfying those requirements is the development of a versatile end effector suitable for high speed and delicate manipulation of consumer goods, accompanied by a flexible control strategy Additionally, exploitation of the developed solution in other areas of the assembly process is examined. Implementation of such a solution could dramatically increase flexibility compared to existing production methods, mainly based on vibratory feeder bowls or similar devices, which are product specific. In the current study, the development of a novel electromechanical manipulator and the control strategy complementing the device are presented. Successful implementation of the proposed method (as evidenced by the pilot case of the study) revealed the potential of such a solution towards successful implementation in a versatile robotic cell in the assembly process of consumer goods.