Picking Tasks by a Robot Using Mechanical Tools

Abstract

This work presents a design of mechanical tools for multiple picking tasks. The idea is that a robot can hold and use the mechanical tools by grippers to pick up target objects. Mechanical tools with a variety of tooltips that are optimal for specific tasks respectively are designed. Conventionally, robots require complicated versatile grippers or exchangeable hands or fingers to handle multiple tasks. In our proposal, a robot can easily use the tools as well as change the tools so as to pick up objects using the optimal tool. To promote the characteristics on transmission and fixation, two symmetric parallelograms are employed to transmit motion and torsion springs are installed to support the structure and apply the forces on the friction surface. Experiments are performed to test the load capability under different working poses, demonstrate the working process, and show the ability of handling various objects.