Tolerance analysis for robotic pick-and-place operations

Abstract Robotic workcell design is a complex process, especially in case of flexible (e.g., bin-picking) workcells. The numerous requirements and the need for continuous system validation on multiple levels place huge burden designers. There are number tools analyzing different aspects robotic workcells, such as CAD software, modelers, or grasp path planners. However, precision aspect operation often overlooked tackled only matter manipulator repeatability. This paper proposes designer tool to assess feasibility pick-and-place workcells from point view. means that not manufacturing tolerances workpiece placing environment considered, but tolerance characteristics manipulation metrology process (in applications) well. Correspondingly, contribution novel modeling approach, where stack-up set up transformation chain low-order kinematic pairs between workpiece, manipulator, other components, based manipulation, seizing, releasing, manufacturing, tolerances. Using this representation, fulfillment functional picking precision) can be validated range corresponding members. By having generalized underlying model, proposed method covers generic industrial applications, including both conventional ones. application presented semi-structured scenario.