A tool change (a vacuum area frame, then a suction cup, then a nut runner) finishes the task in 7 of 8 runs.
ApproximationApproximation fidelityA labelled approximation (suction seal, soft arm, latches, threads, valves): verify on hardware.Simulated, verify on hardwareProduct mode: not part of the pre-registered experimentProduct modeThe Studio's answers are simulation rankings under stated conditions. The pre-registered finger experiment is a separate result, on the Evidence page.
The task, in plain words
Solar panel installation: a solar module (1000 x 600 mm, 35 mm thick, 8 kg) waits on its stand beside the two mounting rails. Lift it onto the rails and set it down against the rail end stops (within 5 mm), then start the clamp nut (13 mm hex) at the middle of its long edge on its thread and tighten it to 6 N m.
Planned into 3 steps; 50 tools tested on 3 conditions each, 255 screen runs.
Caveat: 3 of 3 steps of this setup run on approximation models. A labelled approximation (suction seal, soft arm, latches, threads, valves): verify on hardware. Each tool's full modelling note is under “Show all data”.
Watch the run
Recorded physics, not animation: each replay re-ran a scored run with recording on, on the same condition (nominal placement, seed 0), and plays on one clock.
t 00.00 / 00.00 s
RecommendedTool change: Vacuum area frame > Suction cup > Nut runner
Loading replay
Step 1 of 3
Place panel
Suction · tool 1, Vacuum area frame, 2 x 3 cups, 600 mm
Recommended: Tool change: Vacuum area frame > Suction cup > Nut runner, nominal placement, seed 0. Completed in 62.4 s.
Click a step to jump both replays to it. Hatched gaps are a head switch or tool change: a fixed time, not simulated.
In words: the recommended setup (Tool change: Vacuum area frame > Suction cup > Nut runner) does all 3 steps and finishes at 62.4 s.
Step by step
Every tool the Studio can simulate tried every step it could do, on 3 conditionsScreen conditionsThe first 3 conditions of the grid: nominal placement, then objects shifted by up to 2 mm, each with its own seed. Tools that cannot do a step at all are ruled out first, with a reason. each. Here is who could do each step, which tool the recommended setup uses, and why.
Why it takes 3 tools
No single tool passed every step in the screen (50 tools, 3 conditions each).
Why this setup over the other finalists
Ties on completion (88%), the weakest step and cycle time, and is simpler: 1768 g against 1791 g.
The rule: finish the task most often, then the strongest weakest step, then the shortest cycle, then the simplest setup.
1
Step 1 of 3
Place the panel
Lift the solar panel onto the mounting rails and set it down against the end stops.
Skill
Suction
Object
Solar panel on rails
Done when
gap mm at most 5 mm; lift at least 10 mm
0 of 43tools tried in physics could place the panel
7 more of the 50 were ruled out before physics; 129 screen runs in all.
1passed some runs
42fell short of the goal
7ruled out before physics
Tool 1 of the change
Vacuum area frame, 2 x 3 cups, 600 mm
rated 8.47 kg on a smooth face (holding force over a 1.5 safety factor)
88% of full-task runs passed this stepApproximationApproximation fidelityA labelled approximation (suction seal, soft arm, latches, threads, valves): verify on hardware.
Caveat: Suction is an approximation(more)
Suction is an approximation: the seal is a geometric test gating a capped adhesion force; no air flow, leak rate or porosity.
Caveat: The clamp is an approximation(more)
The clamp is an approximation: a 13 mm hex modelled 15 mm tall so the simulated socket can seat (a standard M8 nut is 6.8 mm tall), on a helical joint with a torque ramp; it does not press the panel. The panel is a rigid slab.
Caveat: Suction cup (approximation)(more)
Suction cup (approximation): a compliant lip of rigid segments on a bellows spring with a limited tilt; the seal is a geometric test (every lip segment touching the face, part material under 13 rays inside the lip) gating a MuJoCo adhesion actuator capped at vacuum x lip area (at most 60 kPa). The lip must touch the face: no pull across a gap. Not modelled: air flow, leak rate, porosity, vacuum build-up time (the vacuum follows the shared close ramp and is cut the control tick the seal is lost), lip material hysteresis, peel dynamics beyond the contact distribution. The lip's friction is the part's. Treat suction results as a screen, then verify on hardware.
Why this tool
No tool passed every screen run of this step; in the full task this one managed to place the panel in 88% of runs.
See which tools (50)
Passed every screen run (0)
None.
Tried and failed (43)
Vacuum area frame, 2 x 3 cups, 600 mmVacuum area frame, 2 of 3 runs, fell short of the goalrated 8.47 kg on a smooth face (holding force over a 1.5 safety factor)
Air-actuated mini parallel gripperIndustrial gripper, 0 of 3 runs, fell short of the goal
Angular-jaw gripper of an open hobby armIndustrial gripper, 0 of 3 runs, fell short of the goal
Designed four-finger hand, 1 joint per finger e352Designed morphology, 0 of 3 runs, fell short of the goal
Designed four-finger swinging hook gripper 052cDesigned morphology, 0 of 3 runs, fell short of the goal
Designed three-digit segmented tentacle 90e8Designed morphology, 0 of 3 runs, fell short of the goal
Designed three-digit segmented tentacle f293Designed morphology, 0 of 3 runs, fell short of the goal
Designed three-finger hand, 1 joint per finger ca8bDesigned morphology, 0 of 3 runs, fell short of the goal
Designed three-finger hand, 2 joints per finger d55eDesigned morphology, 0 of 3 runs, fell short of the goal
Designed three-finger sliding hook gripper da49Designed morphology, 0 of 3 runs, fell short of the goal
Five-finger 18-actuator hand, power graspMulti-finger hand, 0 of 3 runs, fell short of the goal
Five-finger 22-joint hand, pinchMulti-finger hand, 0 of 3 runs, fell short of the goal
Five-finger 22-joint hand, power graspMulti-finger hand, 0 of 3 runs, fell short of the goal
Force-controlled parallel gripper, 48 mm strokeIndustrial gripper, 0 of 3 runs, fell short of the goal
Four-finger 16-joint hand, power graspMulti-finger hand, 0 of 3 runs, fell short of the goal
Industrial servo parallel gripper, 110 mm strokeIndustrial gripper, 0 of 3 runs, fell short of the goal
Suction cup, 10 mm bellowsSuction cup, 0 of 3 runs, fell short of the goal
Suction cup, 16 mm bellowsSuction cup, 0 of 3 runs, fell short of the goal
Suction cup, 25 mm bellowsSuction cup, 0 of 3 runs, fell short of the goal
Suction cup, 40 mm bellowsSuction cup, 0 of 3 runs, fell short of the goal
Three-finger adaptive gripper, pinchIndustrial gripper, 0 of 3 runs, fell short of the goal
Three-finger adaptive gripper, power graspIndustrial gripper, 0 of 3 runs, fell short of the goal
Two-finger adaptive gripper, pinchIndustrial gripper, 0 of 3 runs, fell short of the goal
Two-finger adaptive gripper, power graspIndustrial gripper, 0 of 3 runs, fell short of the goal
Two-finger parallel gripper, fin-ray padsIndustrial gripper, 0 of 3 runs, fell short of the goal
Five-finger 18-actuator hand, pinchMulti-finger hand, 0 of 3 runs, fell short of the goal
Servo-driven four-finger hand, 13 actuators, power graspMulti-finger hand, 0 of 3 runs, fell short of the goal
Two-finger parallel cobot hand, 80 mmIndustrial gripper, 0 of 3 runs, fell short of the goal
Designed four-finger hand, 3 joints per finger b56aDesigned morphology, 0 of 3 runs, fell short of the goal
Designed three-finger hand, 2 joints per finger 3e58Designed morphology, 0 of 3 runs, fell short of the goal
Four-finger 16-joint hand, pinchMulti-finger hand, 0 of 3 runs, fell short of the goal
Rack-and-pinion parallel gripper for an open hobby armIndustrial gripper, 0 of 3 runs, fell short of the goal
Servo-driven four-finger hand, 13 actuators, pinchMulti-finger hand, 0 of 3 runs, fell short of the goal
Soft arm, 12 segments, 140 mmSoft arm, 0 of 3 runs, fell short of the goal
Soft arm, 16 segments, 160 mmSoft arm, 0 of 3 runs, fell short of the goal
Soft arm, 20 soft segments, 180 mmSoft arm, 0 of 3 runs, fell short of the goal
Tendon-driven five-finger hand, 16 joints, pinchMulti-finger hand, 0 of 3 runs, fell short of the goal
Tendon-driven five-finger hand, 16 joints, power graspMulti-finger hand, 0 of 3 runs, fell short of the goal
Two-finger adaptive linkage gripper, 85 mmIndustrial gripper, 0 of 3 runs, fell short of the goal
Two-finger linkage gripper of a cobot armIndustrial gripper, 0 of 3 runs, fell short of the goal
Two-finger parallel gripper, rigid pads AIndustrial gripper, 0 of 3 runs, fell short of the goal
Two-finger parallel gripper, teleop-arm fingersIndustrial gripper, 0 of 3 runs, fell short of the goal
Vacuum area frame, 2 x 2 cups, 300 mmVacuum area frame, 0 of 3 runs, fell short of the goalrated 4.15 kg on a smooth face (holding force over a 1.5 safety factor)
Ruled out before physics (7)
can't pick or hold a part (6)
Nut runner, 13 mm hex socketProcess toolrated 6.7 N m (clutch cap 10 N m); members at least 12 mm tall
Tamper pad, 200 mmProcess toolrated 40 N (the stage slips at 60 N)
Servo screwdriver attachment for a hobby armIndustrial gripper
heavier than the arm can carry (1)
Three-finger 12-joint industrial handMulti-finger hand
2
Step 2 of 3
Insert the clamp
Insert the clamp nut onto its thread start.
Skill
Insert
Object
Solar panel on rails
Done when
depth 3.5 to 4.5 mm
25 of 41tools tried in physics could insert the clamp
9 more of the 50 were ruled out before physics; 123 screen runs in all.
25passed
3passed some runs
12jammed
1made the physics unreliable (parts overlapped by over 1 mm)
9ruled out before physics
Tool 2 of the change
Suction cup, 10 mm bellows
88% of full-task runs passed this stepApproximationApproximation fidelityA labelled approximation (suction seal, soft arm, latches, threads, valves): verify on hardware.
Caveat: The clamp is an approximation(more)
The clamp is an approximation: a 13 mm hex modelled 15 mm tall so the simulated socket can seat (a standard M8 nut is 6.8 mm tall), on a helical joint with a torque ramp; it does not press the panel. The panel is a rigid slab.
Caveat: Suction cup (approximation)(more)
Suction cup (approximation): a compliant lip of rigid segments on a bellows spring with a limited tilt; the seal is a geometric test (every lip segment touching the face, part material under 13 rays inside the lip) gating a MuJoCo adhesion actuator capped at vacuum x lip area (at most 60 kPa). The lip must touch the face: no pull across a gap. Not modelled: air flow, leak rate, porosity, vacuum build-up time (the vacuum follows the shared close ramp and is cut the control tick the seal is lost), lip material hysteresis, peel dynamics beyond the contact distribution. The lip's friction is the part's. Treat suction results as a screen, then verify on hardware.
Why this tool
With the “Suction cup, 25 mm bellows” in its place the setup also finished 7 of 8 runs; this one is lighter (1.77 kg against 1.79 kg).
A finalist with the “Suction cup, 16 mm bellows” in its place finished 4 of 8 runs, against 7 of 8 with this one.
What the data cannot say: 22 other passing tools were not in a finalist: the Studio's ranking chose between them (screen success, then fewer actuators, less mass, a shorter step), and the page data does not record those values per tool.
See which tools (50)
Passed every screen run (25)
Nut runner, 13 mm hex socketProcess tool, 3 of 3 runsrated 6.7 N m (clutch cap 10 N m); members at least 12 mm tall
Air-actuated mini parallel gripperIndustrial gripper, 3 of 3 runs
Angular-jaw gripper of an open hobby armIndustrial gripper, 3 of 3 runs
Designed four-finger hand, 1 joint per finger e352Designed morphology, 3 of 3 runs
Designed four-finger swinging hook gripper 052cDesigned morphology, 3 of 3 runs
Designed three-digit segmented tentacle 90e8Designed morphology, 3 of 3 runs
Designed three-digit segmented tentacle f293Designed morphology, 3 of 3 runs
Designed three-finger hand, 1 joint per finger ca8bDesigned morphology, 3 of 3 runs
Designed three-finger hand, 2 joints per finger d55eDesigned morphology, 3 of 3 runs
Designed three-finger sliding hook gripper da49Designed morphology, 3 of 3 runs
Five-finger 18-actuator hand, power graspMulti-finger hand, 3 of 3 runs
Five-finger 22-joint hand, pinchMulti-finger hand, 3 of 3 runs
Five-finger 22-joint hand, power graspMulti-finger hand, 3 of 3 runs
Force-controlled parallel gripper, 48 mm strokeIndustrial gripper, 3 of 3 runs
Four-finger 16-joint hand, power graspMulti-finger hand, 3 of 3 runs
Industrial servo parallel gripper, 110 mm strokeIndustrial gripper, 3 of 3 runs
Suction cup, 10 mm bellowsSuction cup, the recommendation's pick
Suction cup, 16 mm bellowsSuction cup, 3 of 3 runs
Suction cup, 25 mm bellowsSuction cup, 3 of 3 runs
Suction cup, 40 mm bellowsSuction cup, 3 of 3 runs
Three-finger adaptive gripper, pinchIndustrial gripper, 3 of 3 runs
Three-finger adaptive gripper, power graspIndustrial gripper, 3 of 3 runs
Two-finger adaptive gripper, pinchIndustrial gripper, 3 of 3 runs
Two-finger adaptive gripper, power graspIndustrial gripper, 3 of 3 runs
Two-finger parallel gripper, fin-ray padsIndustrial gripper, 3 of 3 runs
Tried and failed (16)
Five-finger 18-actuator hand, pinchMulti-finger hand, 1 of 3 runs, fell short of the goal
Servo-driven four-finger hand, 13 actuators, power graspMulti-finger hand, 1 of 3 runs, jammed
Servo screwdriver attachment for a hobby armIndustrial gripper
a soft arm can't hold it stiffly (3)
Soft arm, 12 segments, 140 mmSoft arm
Soft arm, 16 segments, 160 mmSoft arm
Soft arm, 20 soft segments, 180 mmSoft arm
heavier than the arm can carry (1)
Three-finger 12-joint industrial handMulti-finger hand
3
Step 3 of 3
Tighten the clamp
Tighten the clamp nut to 6 N m.
Skill
Twist
Object
Solar panel on rails
Done when
clamp torque nm 5.8 to 6.2 N m
1 of 1tools tried in physics could tighten the clamp
49 more of the 50 were ruled out before physics; 3 screen runs in all.
1passed
49ruled out before physics
Tool 3 of the change
Nut runner, 13 mm hex socket
rated 6.7 N m (clutch cap 10 N m); members at least 12 mm tall
88% of full-task runs passed this stepApproximationApproximation fidelityA labelled approximation (suction seal, soft arm, latches, threads, valves): verify on hardware.
Caveat: The clamp is an approximation(more)
The clamp is an approximation: a 13 mm hex modelled 15 mm tall so the simulated socket can seat (a standard M8 nut is 6.8 mm tall), on a helical joint with a torque ramp; it does not press the panel. The panel is a rigid slab.
Caveat: Process tool (approximation)(more)
Process tool (approximation): a rigid tool used by the Studio's own twist or push primitive. The nut runner's spindle is the wrist's roll through a torque-limiting clutch [assumed]; the tamper's stage is a spring that slips at its overload force. The torque, the force and the contact are simulated; the process (thread cross-threading, bed compaction) is not modelled beyond them. Verify on hardware.
Why this tool
It is the only tool that could tighten the clamp: 1 of 1 tried in physics.
See which tools (50)
Passed every screen run (1)
Nut runner, 13 mm hex socketProcess tool, the recommendation's pickrated 6.7 N m (clutch cap 10 N m); members at least 12 mm tall
Tried and failed (0)
None.
Ruled out before physics (49)
integrator rule R05: tightening "Solar panel on rails" to... (43)
Air-actuated mini parallel gripperIndustrial gripper
Angular-jaw gripper of an open hobby armIndustrial gripper
Designed four-finger hand, 1 joint per finger e352Designed morphology
Designed four-finger swinging hook gripper 052cDesigned morphology
Designed three-digit segmented tentacle 90e8Designed morphology
Designed three-digit segmented tentacle f293Designed morphology
Designed three-finger hand, 1 joint per finger ca8bDesigned morphology
Designed three-finger hand, 2 joints per finger d55eDesigned morphology
Designed three-finger sliding hook gripper da49Designed morphology
Five-finger 18-actuator hand, power graspMulti-finger hand
Five-finger 22-joint hand, pinchMulti-finger hand
Five-finger 22-joint hand, power graspMulti-finger hand
Force-controlled parallel gripper, 48 mm strokeIndustrial gripper
Four-finger 16-joint hand, power graspMulti-finger hand
Industrial servo parallel gripper, 110 mm strokeIndustrial gripper
Servo screwdriver attachment for a hobby armIndustrial gripper
heavier than the arm can carry (1)
Three-finger 12-joint industrial handMulti-finger hand
Against the best single tool
One tool is the default; a second tool or a tool change has to earn its place. The recommendation against the best single tool, on the same conditions and seeds.
The baseline: the best single tool
No single tool is eligible
No single tool reached the finalists.
Build pack
Everything to build and check the recommended setup, in one download.
For the recommended setup
Tool change: Vacuum area frame > Suction cup > Nut runner
14 files in one zip, every one under an open licence. Print the parts, buy the tools on the bill of materials, and check the result on your hardware before you rely on it.
clamp torque 6 N m · length 1000 mm · mass 8000 g · start gap 0 mm · thickness 35 mm · width 600 mm
at (0, 0) mm
Steps
1
Step 1: Place panel
SuctionApproximationVerify on hardware
Lift the solar panel onto the mounting rails and set it down against the end stops.
Object
Solar panel on rails by its panel
Parameters
hold 2 s · lift 100 mm
Limits
none stated
Success
gap mm at most 5 mm
lift at least 10 mm
Suction is an approximation: the seal is a geometric test gating a capped adhesion force; no air flow, leak rate or porosity.
The clamp is an approximation: a 13 mm hex modelled 15 mm tall so the simulated socket can seat (a standard M8 nut is 6.8 mm tall), on a helical joint with a torque ramp; it does not press the panel. The panel is a rigid slab.
2
Step 2: Insert clamp
InsertApproximationVerify on hardware
Insert the clamp nut onto its thread start.
Object
Solar panel on rails by its member
Parameters
speed 10 mm/s · standoff 5 mm
Limits
none stated
Success
depth 3.5 to 4.5 mm
After
Place panel
The clamp is an approximation: a 13 mm hex modelled 15 mm tall so the simulated socket can seat (a standard M8 nut is 6.8 mm tall), on a helical joint with a torque ramp; it does not press the panel. The panel is a rigid slab.
3
Step 3: Tighten clamp
TwistApproximationVerify on hardware
Tighten the clamp nut to 6 N m.
Object
Solar panel on rails by its member
Parameters
direction cw · speed 60 deg/s
Limits
none stated
Success
clamp torque nm 5.8 to 6.2 N m
After
Insert clamp
The clamp is an approximation: a 13 mm hex modelled 15 mm tall so the simulated socket can seat (a standard M8 nut is 6.8 mm tall), on a helical joint with a torque ramp; it does not press the panel. The panel is a rigid slab.
Every candidate
Every tool the Studio can simulate, screened step by step on the same conditions and seeds.
Candidates
50
Screened on a step
44
Pruned from every step
6
Pruned from some steps
44
Screen conditions
3
Screen runs
255
Wall time
6 min 14 s
Why candidates were pruned
A capability or fit check, before any physics. Counted per candidate and step, most common first.
47integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
6It cannot pick or hold a part
4Its capability tags do not include the step's primitive
3A soft arm cannot hold a member stiffly along the seat axis
1Heavier than the arm payload limit [assumed]
1a tamper pad presses a face; it cannot insert a part
1integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; a tamper pad is a different process tool
Every candidate (50)
Candidate
From
Fidelity
Screen
Four-finger 16-joint hand, power graspMulti-finger hand
family preset, off the shelf
Rigid
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Four-finger 16-joint hand, pinchMulti-finger hand
family preset, off the shelf
Rigid
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Five-finger 18-actuator hand, power graspMulti-finger hand
family preset, off the shelf
Rigid
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Five-finger 18-actuator hand, pinchMulti-finger hand
family preset, off the shelf
Rigid
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Five-finger 22-joint hand, power graspMulti-finger hand
family preset, off the shelf
Rigid
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Five-finger 22-joint hand, pinchMulti-finger hand
family preset, off the shelf
Rigid
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Two-finger adaptive gripper, power graspIndustrial gripper
family preset, off the shelf
Rigid
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Three-finger adaptive gripper, power graspIndustrial gripper
family preset, off the shelf
Rigid
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Soft arm, 12 segments, 140 mmSoft arm
family preset, off the shelf
Approximation
Screened
2. Insert clamp: integrator rule R09: a soft arm is not used to insert (it cannot hold a member stiffly along the seat axis)
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Soft arm, 16 segments, 160 mmSoft arm
family preset, off the shelf
Approximation
Screened
2. Insert clamp: integrator rule R09: a soft arm is not used to insert (it cannot hold a member stiffly along the seat axis)
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Soft arm, 20 soft segments, 180 mmSoft arm
family preset, off the shelf
Approximation
Screened
2. Insert clamp: integrator rule R09: a soft arm is not used to insert (it cannot hold a member stiffly along the seat axis)
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Suction cup, 10 mm bellowsSuction cup
family preset, off the shelf
Approximation
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Suction cup, 16 mm bellowsSuction cup
family preset, off the shelf
Approximation
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Suction cup, 25 mm bellowsSuction cup
family preset, off the shelf
Approximation
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Vacuum area frame, 2 x 2 cups, 300 mmVacuum area frame, Studio onlyrated 4.15 kg on a smooth face (holding force over a 1.5 safety factor)Caveat
Vacuum area frame (approximation): the cups of the suction cup model on a rigid frame, each with its own seal test and its own vacuum valve (a cup that does not seal stays off). The holding force is the sum of the sealed cups' caps; the payload is that force over a safety factor (1.5 smooth, 2.0 porous, 2.5 swivelling, all [assumed]) at 1 g. Only the smooth rating is a simulated claim: the porous and swivelling ratings are arithmetic on the same force, because no leak, porosity or swivel is simulated. Not modelled: a shared vacuum source and its flow, the leak of an unsealed cup into the others, the frame's flex, peel across a long face, foam or needle area grippers. Treat frame results as a screen, then verify on hardware.
family preset, off the shelf
Approximation
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Vacuum area frame, 2 x 3 cups, 600 mmVacuum area frame, Studio onlyrated 8.47 kg on a smooth face (holding force over a 1.5 safety factor)Caveat
Vacuum area frame (approximation): the cups of the suction cup model on a rigid frame, each with its own seal test and its own vacuum valve (a cup that does not seal stays off). The holding force is the sum of the sealed cups' caps; the payload is that force over a safety factor (1.5 smooth, 2.0 porous, 2.5 swivelling, all [assumed]) at 1 g. Only the smooth rating is a simulated claim: the porous and swivelling ratings are arithmetic on the same force, because no leak, porosity or swivel is simulated. Not modelled: a shared vacuum source and its flow, the leak of an unsealed cup into the others, the frame's flex, peel across a long face, foam or needle area grippers. Treat frame results as a screen, then verify on hardware.
family preset, off the shelf
Approximation
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Nut runner, 13 mm hex socketProcess tool, Studio onlyrated 6.7 N m (clutch cap 10 N m); members at least 12 mm tallCaveat
Nut runner (approximation): a rigid hex socket with a guide funnel on a lateral float; it engages a hex member by shape. The Studio wrist's roll is its spindle [assumed], at the wrist's speed: a clutch limits the torque to its cap (10 N m, under the wrist's 15 N m) and lets go at the release. The socket's walls are stacked slices so the simulator's contacts are as stiff as steel (a solver artifact). Supported in the Studio: members at least 12 mm tall. Not modelled: a motor, a torque transducer, cross-threading, socket wear, a reaction arm. Simulated, verify on hardware.
family preset, off the shelf
Approximation
Screened
1. Place panel: a nut runner turns a fastener; it cannot pick or hold a part
Tamper pad, 200 mmProcess tool, Studio onlyrated 40 N (the stage slips at 60 N)Caveat
Tamper pad (approximation): a rigid, level 200 mm square pad on a spring stage that slips at 60 N, so the pad never presses harder than that within the stage's 60 mm of travel. Not modelled: pad deformation, vibration or impact compaction, mortar flow, the pad's edge catching a joint. Simulated, verify on hardware.
family preset, off the shelf
Approximation
Pruned from every step
1. Place panel: a tamper pad presses a face; it cannot pick or hold a part
2. Insert clamp: a tamper pad presses a face; it cannot insert a part
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; a tamper pad is a different process tool
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Air-actuated mini parallel gripperIndustrial gripper
library, off the shelf
Rigid
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Force-controlled parallel gripper, 48 mm strokeIndustrial gripper
library, off the shelf
Rigid
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Rack-and-pinion parallel gripper for an open hobby armIndustrial gripper
library, off the shelf
Rigid
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Two-finger linkage gripper of a cobot armIndustrial gripper
library, off the shelf
Rigid
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Industrial servo parallel gripper, 110 mm strokeIndustrial gripper
library, off the shelf
Rigid
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Angular-jaw gripper of an open hobby armIndustrial gripper
library, off the shelf
Rigid
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Three-finger 12-joint industrial handMulti-finger hand
library, off the shelf
Rigid
Pruned: it weighs 4.14 kg; the arm carries at most 3 kg [assumed]
Servo-driven four-finger hand, 13 actuators, power graspMulti-finger hand
library, off the shelf
Rigid
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Servo-driven four-finger hand, 13 actuators, pinchMulti-finger hand
library, off the shelf
Rigid
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Tendon-driven five-finger hand, 16 joints, power graspMulti-finger hand
library, off the shelf
Rigid
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Tendon-driven five-finger hand, 16 joints, pinchMulti-finger hand
library, off the shelf
Rigid
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Suction cup, 40 mm bellowsSuction cup
library, off the shelf
Approximation
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Button-pusher toolIndustrial gripper
library, off the shelf
Rigid
Pruned from every step
1. Place panel: it cannot pick or hold a part (suction step)
2. Insert clamp: its capability tags do not include insert
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Drawer-pull hook toolIndustrial gripper
library, off the shelf
Rigid
Pruned from every step
1. Place panel: it cannot pick or hold a part (suction step)
2. Insert clamp: its capability tags do not include insert
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
1. Place panel: it cannot pick or hold a part (suction step)
2. Insert clamp: its capability tags do not include insert
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Servo screwdriver attachment for a hobby armIndustrial gripper
library, off the shelf
Rigid
Pruned from every step
1. Place panel: it cannot pick or hold a part (suction step)
2. Insert clamp: its capability tags do not include insert
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Designed three-finger hand, 2 joints per finger d55eDesigned morphology
designed
Rigid
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Designed four-finger hand, 3 joints per finger b56aDesigned morphology
designed
Rigid
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Designed three-finger sliding hook gripper da49Designed morphology
designed
Rigid
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Designed three-digit segmented tentacle f293Designed morphology
designed
Rigid
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Designed three-finger hand, 2 joints per finger 3e58Designed morphology
designed
Rigid
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Designed four-finger hand, 1 joint per finger e352Designed morphology
designed
Rigid
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Designed three-finger hand, 1 joint per finger ca8bDesigned morphology
designed
Rigid
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Designed four-finger swinging hook gripper 052cDesigned morphology
designed
Rigid
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Designed three-digit segmented tentacle 90e8Designed morphology
designed
Rigid
Screened
3. Tighten clamp: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Success matrix
Each screened tool against every step. Tools ruled out of every step are only in the list above.
Hover or focus a pruned cell to read why the candidate was not screened on that step.
Screen success rate of each candidate on each step, most passing steps first. Pruned cells give their reason.
Candidate
1. Place panelSuction
2. Insert clampInsert
3. Tighten clampTwist
Nut runner, 13 mm hex socketProcess toolApproximation
pruned1: a nut runner turns a fastener; it cannot pick or hold a part
100%3/3carried3 of 3 screen runs passed; screened from the carried state
100%3/3carried3 of 3 screen runs passed; screened from the carried state
Air-actuated mini parallel gripperIndustrial gripperRigid
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
100%3/3carried3 of 3 screen runs passed; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Angular-jaw gripper of an open hobby armIndustrial gripperRigid
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
100%3/3carried3 of 3 screen runs passed; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Designed four-finger hand, 1 joint per finger e352Designed morphologyRigiddesigned
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
100%3/3carried3 of 3 screen runs passed; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Designed four-finger swinging hook gripper 052cDesigned morphologyRigiddesigned
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
100%3/3carried3 of 3 screen runs passed; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Designed three-digit segmented tentacle 90e8Designed morphologyRigiddesigned
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
100%3/3carried3 of 3 screen runs passed; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Designed three-digit segmented tentacle f293Designed morphologyRigiddesigned
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
100%3/3carried3 of 3 screen runs passed; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Designed three-finger hand, 1 joint per finger ca8bDesigned morphologyRigiddesigned
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
100%3/3carried3 of 3 screen runs passed; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Designed three-finger hand, 2 joints per finger d55eDesigned morphologyRigiddesigned
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
100%3/3carried3 of 3 screen runs passed; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Designed three-finger sliding hook gripper da49Designed morphologyRigiddesigned
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
100%3/3carried3 of 3 screen runs passed; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Five-finger 18-actuator hand, power graspMulti-finger handRigid
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
100%3/3carried3 of 3 screen runs passed; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
100%3/3carried3 of 3 screen runs passed; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Five-finger 22-joint hand, power graspMulti-finger handRigid
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
100%3/3carried3 of 3 screen runs passed; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Force-controlled parallel gripper, 48 mm strokeIndustrial gripperRigid
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
100%3/3carried3 of 3 screen runs passed; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Four-finger 16-joint hand, power graspMulti-finger handRigid
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
100%3/3carried3 of 3 screen runs passed; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Industrial servo parallel gripper, 110 mm strokeIndustrial gripperRigid
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
100%3/3carried3 of 3 screen runs passed; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Suction cup, 10 mm bellowsSuction cupApproximation
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
100%3/3carried3 of 3 screen runs passed; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Suction cup, 16 mm bellowsSuction cupApproximation
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
100%3/3carried3 of 3 screen runs passed; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Suction cup, 25 mm bellowsSuction cupApproximation
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
100%3/3carried3 of 3 screen runs passed; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Suction cup, 40 mm bellowsSuction cupApproximation
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
100%3/3carried3 of 3 screen runs passed; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
100%3/3carried3 of 3 screen runs passed; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Three-finger adaptive gripper, power graspIndustrial gripperRigid
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
100%3/3carried3 of 3 screen runs passed; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
100%3/3carried3 of 3 screen runs passed; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Two-finger adaptive gripper, power graspIndustrial gripperRigid
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
100%3/3carried3 of 3 screen runs passed; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
100%3/3carried3 of 3 screen runs passed; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Vacuum area frame, 2 x 3 cups, 600 mmVacuum area frameApproximation
67%2/3goal not met 12 of 3 screen runs passed; failures: goal not met 1
0%0/3carriedjammed 30 of 3 screen runs passed; failures: jammed 3; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
33%1/3carriedgoal not met 21 of 3 screen runs passed; failures: goal not met 2; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Servo-driven four-finger hand, 13 actuators, power graspMulti-finger handRigid
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
33%1/3carriedjammed 21 of 3 screen runs passed; failures: jammed 2; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
33%1/3carriedjammed 21 of 3 screen runs passed; failures: jammed 2; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Designed four-finger hand, 3 joints per finger b56aDesigned morphologyRigiddesigned
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
0%0/3carriedjammed 30 of 3 screen runs passed; failures: jammed 3; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Designed three-finger hand, 2 joints per finger 3e58Designed morphologyRigiddesigned
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
0%0/3carriedjammed 30 of 3 screen runs passed; failures: jammed 3; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
0%0/3carriedphysics unreliable: overlap over 1 mm 30 of 3 screen runs passed; failures: physics unreliable: overlap over 1 mm 3; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Rack-and-pinion parallel gripper for an open hobby armIndustrial gripperRigid
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
0%0/3carriedjammed 30 of 3 screen runs passed; failures: jammed 3; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
0%0/3carriedjammed 30 of 3 screen runs passed; failures: jammed 3; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
pruned3: integrator rule R09: a soft arm is not used to insert (it cannot hold a member stiffly along the seat axis)
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
pruned3: integrator rule R09: a soft arm is not used to insert (it cannot hold a member stiffly along the seat axis)
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
pruned3: integrator rule R09: a soft arm is not used to insert (it cannot hold a member stiffly along the seat axis)
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
0%0/3carriedjammed 30 of 3 screen runs passed; failures: jammed 3; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Tendon-driven five-finger hand, 16 joints, power graspMulti-finger handRigid
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
0%0/3carriedjammed 30 of 3 screen runs passed; failures: jammed 3; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
0%0/3carriedjammed 30 of 3 screen runs passed; failures: jammed 3; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Two-finger linkage gripper of a cobot armIndustrial gripperRigid
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
0%0/3carriedjammed 30 of 3 screen runs passed; failures: jammed 3; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
0%0/3carriedjammed 30 of 3 screen runs passed; failures: jammed 3; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
0%0/3carriedjammed 30 of 3 screen runs passed; failures: jammed 3; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Vacuum area frame, 2 x 2 cups, 300 mmVacuum area frameApproximation
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
0%0/3carriedjammed 30 of 3 screen runs passed; failures: jammed 3; screened from the carried state
pruned2: integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
Rate of screen runs passed, with the count and the failure modes. "Carried": screened from the state the earlier steps leave. Pruned: a capability or fit check ruled the candidate out before any physics.
Pruned reasons (3)
1a nut runner turns a fastener; it cannot pick or hold a part
2integrator rule R05: tightening "Solar panel on rails" to 5.8 N m is a process step for a nut runner; other tools turn a member only up to hand-tight, under 4 N m [assumed]
3integrator rule R09: a soft arm is not used to insert (it cannot hold a member stiffly along the seat axis)
Combinations searched
Single tools
0
Tool-change sequences
9
Two-tool heads scored
4
Two-tool head layouts searched
4
Finalists
Every finalist ran the whole task on the 8 conditions, in ranking order.
Setup
Completion
Weakest step
Cycle time
Tools
Actuators
Mass
Fidelity
Where runs stop
RecommendedTool change: Vacuum area frame > Suction cup > Nut runnerTool change
7 of 8 runs88%
2. Insert clamp88%
62.4 s
3
Vacuum area frame, 2 x 3 cups, 600 mm
Suction cup, 10 mm bellows
Nut runner, 13 mm hex socket
2 changes
8
1.77 kg
Approximation
1. Place panel: 1 run (goal not met 1)
FinalistTool change: Vacuum area frame > Suction cup > Nut runnerTool change
7 of 8 runs88%
2. Insert clamp88%
62.4 s
3
Vacuum area frame, 2 x 3 cups, 600 mm
Suction cup, 25 mm bellows
Nut runner, 13 mm hex socket
2 changes
8
1.79 kg
Approximation
1. Place panel: 1 run (goal not met 1)
FinalistTool change: Vacuum area frame > Suction cup > Nut runnerTool change
4 of 8 runs50%
2. Insert clamp50%
62.4 s
3
Vacuum area frame, 2 x 3 cups, 600 mm
Suction cup, 16 mm bellows
Nut runner, 13 mm hex socket
2 changes
8
1.77 kg
Approximation
2. Insert clamp: 3 runs (jammed 3)
1. Place panel: 1 run (goal not met 1)
FinalistTwo-tool head: Vacuum area frame + Nut runnerTwo-tool head
0 of 8 runs0%
2. Insert clamp0%
n/a
2
Vacuum area frame, 2 x 3 cups, 600 mm
Nut runner, 13 mm hex socket
1 change · printed bracket
7
1.36 kg
Approximation
2. Insert clamp: 7 runs (jammed 7)
1. Place panel: 1 run (goal not met 1)
Conditions, provenance and caveats
ReplayRecommended: trajectory 2c3a3be7768fnominal placement, seed 0150 keyframes from a 100 Hz recording, within 1.0 mm of it175.3 kB
PhysicsDefault controllers, evidence accepted8 conditions4 workers17 min 29 s in all
Every finalist ran every condition, in the same order with the same seeds.
nominal, seed 0: nominal placement
place01, seed 1: solar panel on rails (0.3, -0.2) mm
place02, seed 2: solar panel on rails (0.1, 0.2) mm
place03, seed 3: solar panel on rails (-1.5, -1.8) mm
place04, seed 4: solar panel on rails (-0.0, 1.5) mm
place05, seed 5: solar panel on rails (-1.6, -1.2) mm
place06, seed 6: solar panel on rails (-0.2, 0.3) mm
place07, seed 7: solar panel on rails (-1.5, 1.5) mm
Sensitivity to the change times
Re-ranked with tool changes of 3, 6, 7.5, 10, 12 s and head switches of 0.75, 1.5, 3 s (15 pairs): the recommendation does not change, and the order changes in 0 of 15. Change times are a fixed clock advance, so cycle times are recomputed exactly from the same runs.
Assumed constants
Equal for every candidate; none is sourced from a target arm or tool changer.
Wrist roll torque limit
15 N m
assumed
Wrist roll speed cap
180 deg/s
assumed
Wrist pitch limit, +- from straight down
90 deg
assumed
Wrist pitch speed cap
180 deg/s
assumed
Wrist pitch torque limit
15 N m
assumed
Automatic tool change time (a fixed clock advance)
7.5 s
assumed
Multi-tool head switch time (a fixed tilt, not simulated)
1.5 s
assumed
Tool changer master plate (stays on the wrist)
0.25 kg
assumed
Tool changer plate on every tool
0.1 kg
assumed
Tool changer stack height
52 mm
assumed
Largest tool stack the arm may carry; heavier setups are refused
3 kg
assumed
Printed carbon-filled polymer bracket
1300 kg/m^3
assumed
Per-object placement error of the condition grid (uniform)
2 mm
assumed
Integrator rule R01: completion a setup must add per added effector or changer
0.05
assumed
Integrator rule R01: a weakest step under this fails outright
0.5
assumed
Completion-rate tie among setups of the same complexity
0.05
assumed
Among setups of the same complexity, a simpler one may be this much slower
10%
assumed
Integrator rule R09: the heaviest part a soft arm may carry
2.5 kg
assumed
A rigid tool hooks if its tip reaches this far sideways past the tool and flange
5 mm
assumed
Room a lip needs between a hook and the flange, else the flange blocks it
6 mm
assumed
Integrator rule R05: tightening a threaded member to this torque or more needs a nut runner (1 N m above hand-tight)
4 N m
assumed
A nut runner's socket drives a hex at most this much under its own size
0.5 mm
assumed
Multi-tool head swept-volume clearance
5 mm
assumed
Caveats
The floating wrist abstracts the arm: there is no arm reach or arm collision model.
Presenting a multi-tool head is a fixed tilt per segment plus a fixed time, not a simulated motion.
A tool change is a fixed time, not a simulated docking.
Controllers are scripted and open-loop on the placement error.
A recommendation is a simulation ranking under the stated conditions, not a hardware guarantee.