Structural form and parameter optimization of manipulator grasping fragile workpieces to improve the impact characteristics based on the signal-to-noise ratio

Abstract

The contact impact stress (CIS) between a manipulator finger and a fragile workpiece has a significant effect on clamping stability. The CIS is affected by various factors, for example, the structural form and parameters of the manipulator finger. In this paper, an optimization method combining Taguchi’s method with signal-to-noise ratio (SNR) theory is proposed to reduce the CIS by optimizing the structural form and parameters of the fingers of an internally supported manipulator. The process consists of three stages. In the first stage, finite element models are built using SolidWorks, HyperMesh, and LS-DYNA software to simulate the CIS of the manipulator when gripping fragile workpieces. In the second stage, the SNR theory is applied to evaluate the effect of CIS and its fluctuations on CIS by treating the CIS and its fluctuations as signals, and changes in the structural forms and parameters of the fingers as noise. In the third stage, the optimal combination corresponding to the maximum SNR is obtained, and the degree of influence and significance level of each factor on the impact force was obtained by calculating the SNR response and variance. The simulation results indicate that the optimized structural parameters reduce the CIS by 26.85% compared to the original design. The experimental results verify the correctness of the simulation results and the effectiveness of the proposed method in reducing CIS.

Keywords

Manipulator fragile workpiece contact-impact stress signal-to-noise ratio structural form and parameter optimization Taguchi method

Get full access to this article

View all access options for this article.

References

Piazza

Grioli

Catalano

, et al. A century of robotic hands. Annu Rev Control Robot Auton Syst 2019; 2: 1–32.

Psomopoulou

Karashima

Doulgeri

, et al. Stable pinching by controlling finger relative orientation of robotic fingers with rolling soft tips. Robotica 2018; 36(2): 204–224.

Cai

Tao

Wan

, et al. Multi-fingered dexterous hands: from simplicity to complexity and simplifying complex applications. J Mech Eng 2021; 57: 1–14. (in Chinese)

Shintake

Rosset

Schubert

, et al. Versatile soft grippers with intrinsic electroadhesion based on multifunctional polymer actuators. Adv Mater 2016; 28(2): 231–238.

Ciocarlie

Hicks

Holmberg

, et al. The Velo gripper: a versatile single-actuator design for enveloping, parallel and fingertip grasps. Int J Rob Res 2014; 33(5): 753–767.

Venkatesan

Shanmugam

Veerappan

. Structural analysis of bending soft pneumatic network actuators for various designs using the finite element method. World J Eng 2021; 20(6): 1088–1096.

Sintov

Shapiro

. Dynamic regrasping by in-hand orienting of grasped objects using non-dexterous robotic grippers. Robot Comput Integr Manuf 2018; 50: 114–131.

Vincent

David

S-O

Clément

. Stable and repeatable grasping of flat objects on hard surfaces using passive and epicyclic mechanisms. Robot Comput Integr Manuf 2019; 55: 1–10.

Wang

Zhang

Wang

, et al. Structure configuration of a manipulator for internal bracing grasping of the fragile thin-walled cylindrical inner wall parts. In: IEEE international conference on advanced robotics and mechatronics, Chongqing, China, 3–5 September 2021, pp.645–650. New York: IEEE.

10.

Wang

Kong

Wang

, et al. Research on experiment and contact-collision simulation of an inner braced working manipulator for grasping the fragile thin-walled cylindrical inner wall workpiece. China Mech Eng 2023; 34(17): 2026–2036. (in Chinese)

11.

Wang

Xie

Wang

, et al. Configuration design and characteristics research of a inner braced and nested assembly manipulator with dual passive compliance characteristics. Robot 2024; 46(1): 105-117. (in Chinese)

12.

Wang

Xie

, et al. Configuration design and grasping contact accuracy analysis of a four-finger manipulator used for grasping fragile objects of elliptic cross section. Int J Adv Robot Syst 2023; 20(2): 1–20.

13.

Aimee

Yang

. Grasping force optimization approaches for anthropomorphic hands. J Mech Robot 2018; 10(1): 011004.

14.

Venkatesan

Shanmugam

Veerappan

. Bend angle and contact force on soft pneumatic gripper for grasping objects. Int J Robot Autom 2021; 5: 391–399.

15.

Seriani

Gallina

. Workspace optimization for a planar cable-suspended direct-driven robot. Robot Comput Integr Manuf 2015; 34: 1–7

16.

Gupta

Sarkar

Kumar

. Design optimization of minimally invasive surgical robot. Appl Soft Comput 2015; 32: 241–249.

17.

Hiep

Binh

, et al. Innovative development of a soft robotic gripper: mathematical modeling and grasping capability analysis. Mech Based Des Struct Mach 2023; 1–28. DOI: 10.1080/15397734.2023.2242919.

18.

Dixit

Kumar

Dwivedy

. Shape optimization of flexible robotic manipulators. J Mech Des 2006; 128(3): 559–565.

19.

Cao

Chen

Guo

, et al, Pose error compensation based on joint space division for 6-DOF robot manipulators. Precis Eng 2022; 74: 195–204.

20.

Taguchi

. Taguchi methods in LSI fabrication process. In: IEEE international workshop on statistical methodology, Kyoto, 2001, pp.1–6. New York: IEEE.

21.

Zheng

Yue

Cai

, et al. Feasibility analysis of applying Taguchi method to fuel cell simulation. Int J Energy Res 2022; 46(4): 5362–5366.

22.

Wang

Gainey

Marinelli

, et al. Effects of vermiculite on in-situ thermal behaviour, microstructure, physical and mechanical properties of fired clay bricks. Constr Build Mater 2022; 316: 125828.

23.

Rout

Mittal

. Tolerance design of robot parameters using Taguchi method. Mech Syst Signal Process 2006; 20(8): 1832–1852.

24.

Wang

, et al. Parameter optimization of a four-legged robot to improve motion trajectory accuracy using signal-to-noise ratio theory. Robot Comput Integr Manuf 2018; 51: 85–96.

25.

Cheng

. Mechanical design manual. 6th ed. Beijing, China Chemical Industry Press, 1969, pp.51–53. (in Chinese)

26.

Cronin

Bui

Kaufmann

, et al. Implementation and validation of the Johnson-Holmquist ceramic material model in LS-DYNA. In: 4th European LS-DYNA users conference, Ulm, Stuttgart-Vaihingen Germany: DYNAmore Company 2003, pp.47–60.

27.

Johnson

Holmquist

. A computational constitutive model for glass subjected to large strains, high strain rates and high pressures. J Appl Mech 2011; 78(5): 051003.

28.

Zhang

Kang

. Nonlinear finite element analysis example guide tutorial based on ANSYS 14.5/LS-DYNA. Beijing China: China Machine Press, 2013, pp.39–57. (in Chinese)

29.

Abe

Ohta

Takagi

, et al. Collapse of thin-walled curved beam with closed-hat section-part 2: Simulation by plane plastic hinge model. SAE Trans 1990; 99: 616–624.

30.

. Numerical simulation of impact resistance of ceramic/polyurea composite structures. Jiangxi: East China Jiaotong University, 2020, pp.13–21. (in Chinese)

31.

Wang

Sui

. Experimental design and MATLAB data analysis. Beijing, China: Tsinghua University Press, 2012, pp.163–175. (in Chinese)