Model-based grasp planning for energy-efficient vacuum-based handling

Grasp planning for vacuum-based handling is typically based on prior knowledge and experience. The most adequate grasp positions are selected and distributed manually. The objective of this work is a design method for grasp optimization under consideration of the object-gripper-specific form fit properties to maximize the holding force. The grasp optimization is based on a constrained genetic algorithm which evaluates both an even part's mass distribution and the holding force each gripper can provide. The results indicate that the proposed design method provides feasible grasp configurations for a large variety of different shell-like parts whilst enabling potential energy savings. (c) 2021 CIRP. Published by Elsevier Ltd. All rights reserved.

Automated summary

This research introduces a design method for grasp optimization using a constrained genetic algorithm, considering the specific form fit properties of the object-gripper to maximize holding force. The results show that feasible grasp configurations can be provided for various shell-like parts while enabling potential energy savings.