Simulation Model for Robotic Pick-Point Evaluation for 2-F Robotic Gripper

Robotic bin-picking performance has been gaining attention in recent years with the development of increasingly advanced camera and machine vision systems, collaborative industrial robots, sophisticated robotic grippers. In random process, wide variety objects terms shape, weight, surface require complex solutions for to be reliably picked. The challenging part is determine object pick-points correctly. This paper presents a simulation model based on ADAMS/MATLAB cosimulation pick-point evaluation 2-F gripper. It consists mechanical constructed ADAMS/View, MATLAB/Simulink force controller, several support functions, graphical user interface developed MATLAB/App Designer. Its functionality can serve three different applications, such as: (1) determining optimal due complexity, (2) selecting most appropriate gripper, (3) improving existing configuration gripper (finger width, depth, stroke etc.). Additionally, this analysis, new variants grippers proposed. verified selected sample parallel showing promising results, where up 75% were correctly determined initial testing phase.