Graph-based Design Languages for the Development of a Robotic Cell with Compliant Grippers

Abstract:
This paper deals with an automated digital development process of a robotic cell for an imaginary pick and place use case. Therefore, it contains the development of the robotic cell with all of its different resources (floor, tables, fences, door, sensors and cables), which are firstly modelled by means of object-oriented programming and then transferred into a CAD-model in an automatic manner. Furthermore, a detailed look into the development process for pneumatic compliant grippers with the stages of topology optimization (2D), re-analysis (2D), algorithmic geometry modelling and final anal-ysis (3D) is provided. With that process, three grippers with different purposes are created to handle the variety of work pieces (round, square, rectangular) present in the underlying production scenario.