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Towards robotic assembly: collision detection between each part of the parallel groove clamp

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Abstract

Robot hands grasp parallel groove clamps in assembly operations. The locations of parts during assembly are very important in grasping planning. Directly measuring the locations of all parts in the assembly process is tedious. A motion simulation is proposed to calculate the locations of parts in the assembly process. The boundary representation method describes the geometric information of the part. Assembly sequences simplify the movements of parts. Concave-arc surface collision detection is proposed to calculate the locations of irregular concave parts. The proposed method is found to be computationally less expensive than the collision detection method based on meshing. This research provides a foundation for further studies of robot hand manipulation in irregular assemblies.

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Funding

This work was supported by the National Natural Science Foundation of China (NSFC; grant number U1813216).

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  1. School of Automation, Chongqing University, Chongqing, 400030, China

    Xin Shi & Li Tian

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  1. Xin Shi
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  2. Li Tian
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Xin Shi was in charge of investigation, validation, resources, project administration, supervision, and funding acquisition. Li Tian was in charge of conceptualization, investigation, methodology, validation, and writing the original draft.

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Correspondence to Xin Shi.

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Shi, X., Tian, L. Towards robotic assembly: collision detection between each part of the parallel groove clamp. Int J Adv Manuf Technol 119, 4349–4358 (2022). https://doi.org/10.1007/s00170-021-08484-3

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