Technology Category
Intelligent Robots: ManipulationPlanning, Routing, and Scheduling: Replanning and Plan RepairComputer Vision: Low Level & Physics-based Vision
Modular Vacuum-Based Fixturing System for Adaptive Disassembly Workspace Integration
🤖 AI Summary
To address poor adaptability and insufficient stability of conventional rigid grippers in disassembling small household appliances with complex curved surfaces, this paper proposes a modular vacuum-based grasping system built upon commercial pneumatic soft grippers. The system achieves adaptive conformal contact with irregular surfaces through synergistic integration of elastic deformation and vacuum suction. We introduce a novel grasp planning framework that jointly incorporates geometric continuity analysis and convex-hull-based static stability criteria, enabling optimized multi-gripper configurations for robust support. Experimental evaluation on screw-removal tasks demonstrates significantly higher success rates compared to rigid grippers, along with markedly improved workpiece placement stability. To our knowledge, this is the first work to deploy pneumatic soft grippers in household appliance disassembly, offering a scalable, hardware-software co-designed solution for stable manipulation of unstructured curved objects.
Technology Category
Application Category
📝 Abstract
The disassembly of small household appliances poses significant challenges due to their complex and curved geometries, which render traditional rigid fixtures inadequate. In this paper, we propose a modular vacuum-based fixturing system that leverages commercially available balloon-type soft grippers to conform to arbitrarily shaped surfaces and provide stable support during screw-removal tasks. To enable a reliable deployment of the system, we develop a stability-aware planning framework that samples the bottom surface of the target object, filters candidate contact points based on geometric continuity, and evaluates support configurations using convex hull-based static stability criteria. We compare the quality of object placement under different numbers and configurations of balloon hands. In addition, real-world experiments were conducted to compare the success rates of traditional rigid fixtures with our proposed system. The results demonstrate that our method consistently achieves higher success rates and superior placement stability during screw removal tasks.
Problem
Research questions and friction points this paper is trying to address.
Addresses challenges in disassembling small appliances with complex shapes
Proposes modular vacuum-based fixturing for stable screw-removal tasks
Develops stability-aware planning for reliable object support configurations
Innovation
Methods, ideas, or system contributions that make the work stand out.
Modular vacuum-based fixturing system
Balloon-type soft grippers adaptation
Stability-aware planning framework
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