Patent ID: 11954406
Assignee: ABB SCHWEIZ AG
Field: Computer technology (Electrical engineering)
Classification: CPC G  B | IPC B  G

Claim 12:
13. A system for generating a tool designed to interact with at least two objects, wherein the tool comprises a finger for a robot gripper, the system comprising:
a tool fabricating machine, and
a computer configured to execute the steps of:
obtaining a model of each object, each model including at least a geometry of the respective object,
determining, for each model, at least one requirement set specific to the one respective object based on an analysis of the geometry of the respective object, each requirement set including at least one requirement for the tool, the at least one requirement specifying at least one of the following: a number of contact areas between the tool and each object, a minimum individual contact area between the tool and each object, a minimum total contact area between the tool and each object, a minimum static friction coefficient between the tool and each object, and a minimum dynamic friction coefficient between the tool and each object; and
creating at least one virtual tool based on the at least one requirement;
simulating an interaction between each model and each of the at least one virtual tool, which is created based on the at least one requirement;
calculating attribute values of at least one predetermined attribute reflecting simulated static and/or dynamic forces between each model and each virtual tool;
appointing, on the basis of the attribute values, a to-be-fabricated virtual tool; and
providing instructions to the tool fabricating machine to fabricate a tool corresponding to the to-be-fabricated virtual tool.