Visualization of part surfaces for identifying feasible assembly grasp locations
Paper in proceedings, 2017
As the first step toward automatic grasp planning in the IPS (Industrial Path Solutions) platform with aDHM (Digital Human Modeling) tool called IMMA (Intelligently Moving Man-ikins), two methods namedPointwise Shortest Distance and Environment Clearance are presented in this paper to color part surfaces by taking environmental constraints into ac-count so that aDHM tooluser can easily identify feasiblegrasp locations for a manikin. Theimplementation of these two methods are robust enoughto handle triangle meshes with commongeometric flaws such as cracks andgaps. In fact, with the help of Visual Shellalgorithmimplemented on Graphics Processing Unit (GPU),even meshes within-consistently oriented normal vectorscan be handled. Currently, we are planning to conduct anindustrial user study, where assembly simulation expertswill be asked to specify man-ikin’s hand grips using IMMA with and without the help of the proposed methods, toprove that the proposed methodsindeedenhance the flexibility and hence the usability for the assembly simulation experts.
Visualization of part surfaces for identifying feasible assembly grasp locations. Available from: https://www.researchgate.net/publication/322581783_Visualization_of_part_surfaces_for_identifying_feasible_assembly_grasp_locations [accessed Jan 19 2018].