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dc.contributor.authorMendizabal-Arrieta, Iñigoen_US
dc.contributor.authorTammaro, Antonioen_US
dc.contributor.authorOjer, Marcoen_US
dc.contributor.authorLin, Xiaoen_US
dc.contributor.editorPosada, Jorgeen_US
dc.contributor.editorSerrano, Anaen_US
dc.description.abstractRandom bin picking is still one of the main tasks for robotics in the current days. When the environment is very cluttered, the calculation of grasping positions can be highly demanding in terms of time and computing power. To ease the computation load, some parts arranging operations can be performed before the segmentation stage. For instance, for small and light parts, a feeder-vibrating table system can be used to separate the components, allowing them to be easily grasped, and increasing the overall performance of the solution. However, as the geometry and requirements for piece type are different, one or more feasibility tests need to be done for each case. These analyses are usually very time and cost intensive and require the use of expensive hardware such as robots, grippers, and prototype cells. The use of virtual reproductions of the environment like digital twins or physical-based simulations could help reduce the time and effort spent on designing the settings, nevertheless, their correct configuration is not trivial. This paper presents a simulation based analysis method for picking small-sized parts. It aims to supply the tools and define a streamlined procedure for efficient feasibility testing. Those concepts are applied in a specific bin picking scenario of multiple small electronic components. For each part type, a set of case-specific initial and boundary conditions are taken into account, then a series of performance metrics for both bin and vibrating table part picking are computed. The obtained information is decisive to make strategic decisions regarding the hardware requirements, the profitability, and the success probability of the project.en_US
dc.publisherThe Eurographics Associationen_US
dc.rightsAttribution 4.0 International License
dc.subjectCCS Concepts: Computer systems organization --> Robotics; Computer graphics --> Physical simulation; Hardware validation --> Simulation and emulation
dc.subjectComputer systems organization
dc.subjectComputer graphics
dc.subjectPhysical simulation
dc.subjectHardware validation
dc.subjectSimulation and emulation
dc.titleSimulation Based Initial Feasibility Analysis Pipeline for Small-sized Part Pickingen_US
dc.description.seriesinformationSpanish Computer Graphics Conference (CEIG)
dc.description.sectionheadersCAD, Simulation, and Grasping
dc.identifier.pages10 pages

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Attribution 4.0 International License
Except where otherwise noted, this item's license is described as Attribution 4.0 International License