用偏心转动实现空心物体精准抓取，提升工业装配效率
Experimental Evaluation of Precise Placement of the Hollow Object with Asymmetric Pivot Manipulation
- 通过机器人偏心旋转，一指伸入孔内一指贴外壁实现孔抓取
- 实验验证对瓶、杯、管道等多类空心物抓取成功率高
- 适配商用夹爪，适合工厂中空心件对位与上料场景
本文提出一种用于抓取刚性空心物体的非对称枢轴操作方法，实现孔抓取。该操作由位置控制的机械臂执行，使夹爪一指置于物体孔内，另一指沿长度方向接触外部表面。孔抓取被人类广泛用于操控空心物体，有助于精准定位，并支持后续高效操作，如紧密堆叠至托盘或精确插入狭窄工位。该方法适用于多种尺寸和孔形的空心物体，包括瓶子、杯子和管道。我们研究了满足力平衡条件的可变参数，确保稳定抓取配置。该方法无需改装即可在商用平行夹爪上实现。实验验证表明，对各类空心物体均能成功实现孔抓取，且成功率高。两个应用场景——对齐与喂料空心圆柱体——在实验平台上得到验证，清晰展示了孔抓取的优势。
原文摘要 · Abstract (English)
In this paper, we present asymmetric pivot manipulation for picking up rigid hollow objects to achieve a hole grasp. The pivot motion, executed by a position-controlled robotic arm, enables the gripper to effectively grasp hollow objects placed horizontally such that one gripper finger is positioned inside the object's hole, while the other contacts its outer surface along the length. Hole grasp is widely employed by humans to manipulate hollow objects, facilitating precise placement and enabling efficient subsequent operations, such as tightly packing objects into trays or accurately inserting them into narrow machine slots in manufacturing processes. Asymmetric pivoting for hole grasping is applicable to hollow objects of various sizes and hole shapes, including bottles, cups, and ducts. We investigate the variable parameters that satisfy the force balance conditions for successful grasping configurations. Our method can be implemented using a commercially available parallel-jaw gripper installed directly on a robot arm without modification. Experimental verification confirmed that hole grasp can be achieved using our proposed asymmetric pivot manipulation for various hollow objects, demonstrating a high success rate. Two use cases, namely aligning and feeding hollow cylindrical objects, were experimentally demonstrated on the testbed to clearly showcase the advantages of the hole grasp approach.
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