Automated Handling and Assembling of Non-Rigid Objects
Semiannual rept. no. 2, 15 Jul 1990-14 Jan 1991,
OHIO STATE UNIV COLUMBUS DEPT OF ELECTRICAL ENGINEERING
Pagination or Media Count:
In this period, three topics were studied. The first topic addresses the strategies of automated handling and assembling of non-rigid objects by using multiple end-effectors, the second topic studies the shape reconstruction of two dimensional objects, and the third topic is the construction of a laser range finder for identification of the third dimension of an object. The first topic investigated optimal tool structures for handling one and two dimensional objects. Previously, Vacuum pads were proposed to pick up large deformable sheet by the difference of the air pressure. By using two ordinary end-effectors, just like the two hands of human beings, deformable objects can be manipulated without using a large tool. The study has developed an optimal mechanism for coordinating the end-effectors so the machine consumes the minimum energy and no damage is made to the object. The second topic identifies the deformed shape of two-dimensional objects. For two dimensional objects, there does not exist closed-form solution to the governing equation of the deformation. Our goal is to sense a few data points on the deformed surface. Based on these points, a numerical model can be driven which can reconstruct the entire surface with a good approximation. This numerical model can also be modified to deformation behavior of the object. The third topic develops a laser range finder so all three dimensions of an object can be identified. The laser range finder is a very important tool for our research, since a two-dimensional object becomes three dimensional once it is deformed. For three dimensional objects, the third dimension is important to completely identify the shape of an object even before the deformation occurs.