公开(公告)号：KR101294250B1

公开(公告)日：2013-08-07

申请号：KR1020120016567

申请日：2012-02-17

Applicant: 재단법인대구경북과학기술원

Inventor： 신동환 ,  안진웅 ,  정충표 ,  이진섭

IPC: B25J9/16 ,  B25J15/08

Abstract: PURPOSE: A method and a device to calculate a gripping force of grippers are provided to improve work efficiency by rapidly calculating a gripping force range of the gripper even if a new object is changed. CONSTITUTION: A method to calculate a gripping force of grippers comprises the steps of: estimating Young modulus of objects using geometric information of the object obtained from vision images and a deformation amount of the object measured in a state where the gripper grips the objects with a predetermined initial gripping force (S110); estimating a density of the object using first and second vertical movement forces (S120); estimating a slip frictional coefficient at a moment when the object starts to separate from the gripper while the gripping force is reduced in a state where the object is gripped with the initial gripping force (S130); and calculating a gripping force range of the gripper using the Young modulus, the density, and the slip frictional coefficient (S140). The first and second vertical movement forces are required to vertically move the gripper in half of a height of the object from a gripping point of the object. [Reference numerals] (AA) Start; (BB) End; (S110) Step of estimating Young modulus of objects using geometric information of the object obtained from vision images and a deformation amount of the object measured in a state where the gripper grips the objects with a predetermined initial gripping force; (S120) Step of estimating a density of the object using a first vertical movement force required to vertically move a gripper in a gripping point of the object and a second vertical movement force required to vertically move the gripper while the objects are gripped; (S130) Step of estimating a slip frictional coefficient at a moment when the object starts to separate from the gripper while the gripping force is reduced in a state where the object is gripped with the initial gripping force; (S140) Step of calculating a gripping force range of the gripper using the Young modulus, the density, and the slip frictional coefficient

Abstract translation: 目的：提供一种用于计算夹具的夹持力的方法和装置，用于通过快速计算夹具的夹持力范围来提高工作效率，即使新物体改变。 构成：计算夹持器的夹持力的方法包括以下步骤：使用从视觉图像获得的对象的几何信息估计对象的杨氏模量，以及在夹具用对象夹持物体的状态下测量的对象的变形量 预定的初始夹紧力（S110）; 使用第一和第二垂直移动力估计物体的密度（S120）; 估计当物体在初始夹紧力被夹持的状态下夹持力减小时，物体开始与夹具分离的时刻的滑动摩擦系数（S130）; 以及使用杨氏模量，密度和滑移摩擦系数计算夹持器的夹持力范围（S140）。 需要第一和第二垂直运动力将物体的一半高度从夹持物体的夹持位置垂直移动。 （附图标记）（AA）开始; （BB）结束; （S110）使用从视觉图像获得的对象的几何信息和在夹具以预定的初始夹持力夹持物体的状态下测量的物体的变形量来估计物体的杨氏模量的步骤; （S120）使用在物体的夹持点上垂直移动夹持器所需的第一垂直移动力和在夹持物体时垂直移动夹持器所需的第二垂直移动力来估计物体的密度的步骤; （S130）在物体以初始夹持力夹持的状态下，当夹持力减小时，估计物体开始与夹具分离的时刻的滑动摩擦系数的步骤; （S140）使用杨氏模量，密度和滑移摩擦系数来计算夹持器的夹持力范围的步骤