TY - GEN
T1 - Towards a universal gripper - On the use of suction in the context of the Amazon Robotic Challenge
AU - McCulloch, Timothy
AU - Herath, Damith
N1 - Funding Information:
The first author would like to acknowledge the travel funding to attend ACRA 2016 from the Human Centred Technology Research Centre, University of Canberra. Authors gratefully acknowledge the support and contributions from the 2016 APC Finalists, team MicroRe-cycler, a joint team constituting human and nonhuman resources from the University of Canberra, Robological PTY LTD and the University of New South Wales.
Publisher Copyright:
© 2018 Australasian Robotics and Automation Association. All rights reserved.
PY - 2016/12/5
Y1 - 2016/12/5
N2 - In this paper we empirically explore the use of suction as a potential universal gripping mechanism. The context is provided by the Amazon Robotic Challenge (formerly Amazon Picking Challenge) -an international robotic competition hosted by Amazon with the intended purpose of advancing warehouse robotics. While highlighting some common misconceptions, we present practical and theoretical elements that are important in applying suction in the said context. The paper is structured in a tutorial format enabling the reader to appreciate and implement suction based gripping mechanisms in the wild. Numerous test examples are presented from the Amazon Robotic Challenge with high ow, high pressure and hybrid suction methods. A practical equipment selection guide is also included at the end to complement the tutorial value.
AB - In this paper we empirically explore the use of suction as a potential universal gripping mechanism. The context is provided by the Amazon Robotic Challenge (formerly Amazon Picking Challenge) -an international robotic competition hosted by Amazon with the intended purpose of advancing warehouse robotics. While highlighting some common misconceptions, we present practical and theoretical elements that are important in applying suction in the said context. The paper is structured in a tutorial format enabling the reader to appreciate and implement suction based gripping mechanisms in the wild. Numerous test examples are presented from the Amazon Robotic Challenge with high ow, high pressure and hybrid suction methods. A practical equipment selection guide is also included at the end to complement the tutorial value.
KW - Robot gripping mechanism
KW - Suction
UR - http://www.scopus.com/inward/record.url?scp=85049848743&partnerID=8YFLogxK
M3 - Conference contribution
SN - 9781634396080
T3 - Australasian Conference on Robotics and Automation, ACRA
SP - 153
EP - 160
BT - Australasian Conference on Robotics and Automation 2016, ACRA 2016
PB - Australasian Robotics and Automation Association
T2 - Australasian Conference on Robotics and Automation 2016, ACRA 2016
Y2 - 5 December 2016 through 7 December 2016
ER -