To determine the grasping points of sheet metal parts quickly and improve the degree of automation of grasping,a probability heat map-based grasping point generation and evaluation method for sheet metal parts was proposed.The single-factor probability heat maps were calculated based on the projection of sheet metal parts and end pickers to evaluate the de-gree of overlapping between the sheet metal parts and the end pickers,the geometric center of sheet metal parts and the sur-face smoothness of sheet metal parts.Then,single-factor probability heat maps were fused.The fused probability heat map was randomly meshed and the locations of highest values were selected as grasping points.Finally,finite element analysis was utilized to verify the validity of the generated grasping points.The results showed that the proposed grasping point generation and evaluation method was applicable to different grasping working conditions.The runtime of probability heat map calculation and grasping point generation was 1.58s.The maximum total deformation of the gripped Q345b sheet metal part was 7.993mm,and the maximum equivalent stress was 158.42MPa,which was smaller than the yield strength of the material of the sheet metal part.
关键词
钣金件/概率热力图/抓取点生成/有限元分析
Key words
sheet metal part/probability heat map/grasping point generation/finite element analysis
维普
万方数据