Journal ArticleDOI
A complete algorithm for designing passive fences to orient parts
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TLDR
The algorithm proposes that a fence design exists to orient any convex polygonal part defined by a sequence of rational vertices and concludes that the algorithm is complete in the sense that it is guaranteed to find a design if one exists and to terminate with a negative report otherwise.Abstract:
Reviews Peshkin and Sanderson (1988) who showed that parts can be aligned as they move on a conveyor belt against a passive sequence of fences. Describes the first complete algorithm to design such sequences for a given convex polygonal part. The algorithm is complete in the sense that it is guaranteed to find a design if one exists and to terminate with a negative report otherwise. Based on an exact breadth‐first search of the design space, the algorithm is also guaranteed to find the design requiring the fewest fences. Describes the algorithm and compares results with those previously reported. Conjectures that a fence design exists to orient any convex polygonal part defined by a sequence of rational vertices.read more
Citations
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Journal ArticleDOI
Hands for dexterous manipulation and robust grasping: a difficult road toward simplicity
TL;DR: An attempt at summarizing the evolution and the state of the art in the field of robot hands is made and arguments are presented in favor of a -minimalistic" attitude in the design of hands for practical applications.
Proceedings ArticleDOI
Automating microassembly with ortho-tweezers and force sensing
J. A. Thompson,Ronald S. Fearing +1 more
TL;DR: It is described how basic manipulation primitives can be combined in a Python script to perform automated, force-feedback controlled assembly operations, and a fully automated pick and place task is demonstrated.
Prototyping millirobots using dextrous microassembly and folding
TL;DR: In this paper, two processes for rapidly prototyping micromechanical systems are discussed: first, microassembly, and second, laser cutting of thin sheets and folding, where sub-millimeter rigid blocks can be dextrously manipulated using two 1 DOF ngers and an XYZ micropositioning stage.
Journal ArticleDOI
Comparing the Power of Robots
TL;DR: A dominance relation over robot systems is formalized that formalizes the idea that some robots are stronger than others, and induces a partial order over the set of robot systems.
Proceedings ArticleDOI
Agile assembly architecture: an agent based approach to modular precision assembly systems
TL;DR: This paper presents the initial thoughts on the design of an architecture for highly flexible, modular, and distributed precision assembly systems through the use of a unified design, simulation, programming, and monitoring environment coupled with self-representing cooperative agents.
References
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Journal ArticleDOI
Stable pushing: mechanics, controllability, and planning
Kevin M. Lynch,Matthew T. Mason +1 more
TL;DR: A planner for finding stable pushing paths among obstacles is described, and the planner is demon strated on several manipulation tasks.
Journal ArticleDOI
An exploration of sensorless manipulation
TL;DR: An automatic planner is described that constructs a tilting program, using a simple model of the mechanics of sliding, and it is observed that sensorless motion strategies perform conditional actions using mechanical decisions in place of environmental inquiries.
Journal ArticleDOI
Orienting polygonal parts without sensors
TL;DR: It is shown that any polygonal part can be oriented without sensors by giving anO[n2 logn) algorithm for finding the shortest sequence of mechanical gripper actions that is guaranteed to orient the part up to symmetry in its convex hull.
Journal ArticleDOI
Automatic grasp planning in the presence of uncertainty
TL;DR: An algorithm for automatic planning of robot grasping motions that are insensitive to bounded uncer tainties in the object's location is presented and it is shown that simple squeeze- grasp operations are not sufficient for grasping all possible objects, and offset-grasp and push- Grasp Operations are added to increase the scope of the planner.
Dissertation
Manipulator Grasping and Pushing Operations
TL;DR: The theoretical analysis focuses on the problem of partially constrained motion with friction, where inertial forces are dominated by frictional forces and the fundamental motion of the object-whether it will rotate, and if so in what direction-may be determined by inspection.