Thematische Bibliographien / Adaptive gripper

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Auswahl der wissenschaftlichen Literatur zum Thema „Adaptive gripper“

Autor: Grafiati

Veröffentlicht am 25. Mai 2024

Zuletzt aktualisiert am 31. Juli 2025

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Zeitschriftenartikel zum Thema "Adaptive gripper"

Petkovic, Dalibor, Mirna Issa, Nenad D. Pavlovic, and Lena Zentner. "Passively Adaptive Compliant Gripper." Applied Mechanics and Materials 162 (March 2012): 316–25. http://dx.doi.org/10.4028/www.scientific.net/amm.162.316.

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Gripping and holding of objects are key tasks for robotic manipulators. The development of universal grippers able to pick up unfamiliar objects of widely varying shapes and surfaces is a very challenging task. Passively compliant underactuated mechanisms are one way to obtain the gripper which could accommodate to any irregular and sensitive grasping objects. The purpose of the underactuation is to use the power of one actuator to drive the open and close motion of the gripper. The underactuation can morph shapes of the gripper to accommodate to different objects. As a result, they require le

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Peng, Zhikang, Dongli Liu, Xiaoyun Song, et al. "The Enhanced Adaptive Grasping of a Soft Robotic Gripper Using Rigid Supports." Applied System Innovation 7, no. 1 (2024): 15. http://dx.doi.org/10.3390/asi7010015.

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Soft pneumatic grippers can grasp soft or irregularly shaped objects, indicating potential applications in industry, agriculture, and healthcare. However, soft grippers rarely carry heavy and dense objects due to the intrinsic low modulus of soft materials in nature. This paper designed a soft robotic gripper with rigid supports to enhance lifting force by 150 ± 20% in comparison with that of the same gripper without supports, which successfully lifted a metallic wrench (672 g). The soft gripper also achieves excellent adaptivity for irregularly shaped objects. The design, fabrication, and per

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Frincu, Cezar Ioan, Ioan Stroe, and Ionel Staretu. "Innovative self-adaptive gripper design, functional simulation, and testing prototype." International Journal of Advanced Robotic Systems 19, no. 4 (2022): 172988062211193. http://dx.doi.org/10.1177/17298806221119345.

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This article presents the design, functional simulation, and prototype of an innovative adaptive jaw gripper. First, based on the comparative analysis of several types of anthropomorphic finger grippers and adaptive jaw grippers, to avoid their disadvantages, the structural scheme of a gripper module based on a polycontour mechanism, comprising a guided parallelogram contour, was established to obtain a parallel translational movement of the elements of the jaw holders and therefore of the jaws. Then the structural analysis is briefly made to verify the correct operation of the mechanism of th

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Kang, Bongki, and Joono Cheong. "Development of Two-Way Self-Adaptive Gripper Using Differential Gear." Actuators 12, no. 1 (2022): 14. http://dx.doi.org/10.3390/act12010014.

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In this paper, a two-way self-adaptive gripper that has adaptability to external disturbance loads during linear opening/closing pinch actions and adaptability to encompass a variety of shapes during grasping using a single actuator is proposed, unlike the previous self-adaptive robotic grippers capable of only shape adaptation. Therefore, both linear motion adaptability and shape adaptability during parallel grasping situations are enabled by the proposed design of the gripper. Adaptation to the linear pinch motion is provided through the use of a differential gear, the two outputs of which d

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Portman, V., L. Slutski, and Y. Edan. "An adaptive locating problem for robotic grasping." Robotica 19, no. 3 (2001): 295–304. http://dx.doi.org/10.1017/s0263574700003155.

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The paper addresses a problem of “in-hand” locating parts of different shapes in robotic grasping. The goal of the process is to locate a part of an arbitrary shape from an imprecisely determined initial position within a gripper to a final prescribed one. Two possible approaches to solve the problem are considered: non-adaptive, using ordinary rigid jaws of gripper and, adaptive, using an adaptive jaw which improves the performance of the locating process. The latter approach is proposed to be solved by a new type of grasping mechanism. Its theoretical analysis enables to obtain formal condit

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Xie, Bowei, Mohui Jin, Jieli Duan, et al. "Design of Adaptive Grippers for Fruit-Picking Robots Considering Contact Behavior." Agriculture 14, no. 7 (2024): 1082. http://dx.doi.org/10.3390/agriculture14071082.

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Adaptability to unstructured objects and the avoidance of target damage are critical challenges for flexible grippers in fruit-picking robots. Most existing flexible grippers have many problems in terms of control complexity, stability and cost. This paper proposes a flexible finger design method that considers contact behavior. The new approach incorporates topological design of contact targets and introduces contact stress constraints to directly obtain a flexible finger structure with low contact stress and good adaptability. The study explores the effects of design parameters, including vi

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Frincu, Cezar, Ioan Stroe, Sorin Vlase, and Ionel Staretu. "Design and Calibration of a Sensory System of an Adaptive Gripper." Applied Sciences 15, no. 6 (2025): 3098. https://doi.org/10.3390/app15063098.

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The design and calibration of an adaptive gripper’s sensor system are presented in this research. Including the final constructive variants, the variants of the planned force sensor and slip sensors are detailed, highlighting their primary functional and constructive features. The key elements regarding the calibration of the force and slip sensors on each gripper module of the adaptive gripper are then displayed. Each sensor must be examined and calibrated independently due to its construction particularities. The important force and slip sensor behavior graphs are displayed, along with the c

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Rahman, Md Mahbubur, Md Tanzil Shahria, Md Samiul Haque Sunny, et al. "Development of a Three-Finger Adaptive Robotic Gripper to Assist Activities of Daily Living." Designs 8, no. 2 (2024): 35. http://dx.doi.org/10.3390/designs8020035.

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A significant number of individuals in the United States use assistive devices to enhance their mobility, and a considerable portion of those who depend on such aids require assistance from another individual in performing daily living activities. The introduction of robotic grippers has emerged as a transformative intervention, significantly contributing to the cultivation of independence. However, there are few grippers in the fields, which help with mimicking human hand-like movements (mostly grasping and pinching, with adoptive force control) to grasp and carry objects. Additionally, the d

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Zhang, Jintao, Shuang Lai, Huahua Yu, Erjie Wang, Xizhe Wang, and Zixuan Zhu. "Fruit Classification Utilizing a Robotic Gripper with Integrated Sensors and Adaptive Grasping." Mathematical Problems in Engineering 2021 (September 3, 2021): 1–15. http://dx.doi.org/10.1155/2021/7157763.

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As the core component of agricultural robots, robotic grippers are widely used for plucking, picking, and harvesting fruits and vegetables. Secure grasping is a severe challenge in agricultural applications because of the variation in the shape and hardness of agricultural products during maturation, as well as their variety and delicacy. In this study, a fruit identification method utilizing an adaptive gripper with tactile sensing and machine learning algorithms is reported. An adaptive robotic gripper is designed and manufactured to perform adaptive grasping. A tactile sensing information a

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Zhang, Yunzhi, Dingkun Xia, Qinghua Lu, Qinghua Zhang, Huiling Wei, and Weilin Chen. "Design, Analysis and Experimental Research of Dual-Tendon-Driven Underactuated Gripper." Machines 10, no. 9 (2022): 761. http://dx.doi.org/10.3390/machines10090761.

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To improve the adaptive clamping performance of traditional single-tendon-driven underactuated grippers for grasping multiple categories of objects, a novel dual-tendon-driven underactuated gripper is proposed in this paper. First, two independent tendons with different winding paths are designed in the gripper to realize the changeable resultant moment of the end knuckle rotating joint and the movement sequences of gripper knuckles driven by different tendons are analysed too. Then, some kinematic analysis and dynamical simulations are carried out to verify the validation of the knuckle struc

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Dissertationen zum Thema "Adaptive gripper"

Pettersson-Gull, Pontus, and Johan Johansson. "INTELLIGENT ROBOTIC GRIPPER WITH AN ADAPTIVE GRASP TECHNIQUE." Thesis, Mälardalens högskola, Inbyggda system, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-40573.

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This thesis presents a robotic gripper with an intelligent sensor system to grasp objects with an adaptive grasp technique. Two techniques are used, one for small objects and one for large objects. The sensor system is able to detect the object and measure its size to adapt the grasp. Optical motion sensors are used to see when the object is slipping between the ﬁngers which means that more force needs to be applied. This makes it possible to grasp rigid and soft objects without damaging them. The functionality of the gripper was tested on eight objects with various characteristics. The result

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Monteiro, Sølve Jonathan. "Adaptive Gripping Technology : Development of a gripper interface for SCHUNK Dextrous Hand." Thesis, Norwegian University of Science and Technology, Department of Engineering Cybernetics, 2010. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-10184.

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The use of robotic grippers offers huge potential benefits in industrial settings. The more advanced a gripper is, the more uses it can have, thus offering large economic benefits. On the other hand, the more complex a gripper is, the more advanced its control system needs to be, in order to control it effectively and safely. This thesis will focus on controlling SCHUNK Dextrous Hand (SDH), a 3-fingered robotic gripper with 7 degrees of freedom and tactile sensors in the fingers. By creating a real-time control system the sensors in the fingers can be used to make a feedback loop that contr

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Vollhardt, Ugo. "Contribution à l'analyse de stabilité orientée tâche pour la préhension robotique : Application au cas de prises compliantes." Electronic Thesis or Diss., université Paris-Saclay, 2022. http://www.theses.fr/2022UPAST049.

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Les promesses de production flexible et adaptable apportées par l’industrie 4.0 font de la saisie adaptative d’objet un sujet particulièrement porteur à la fois dans le domaine scientifique et dans le domaine industriel. De nombreux concepts de préhenseurs adaptatifs, intégrant à la fois des mécaniques de sous-actionnement (nombre réduit de d’actionneur par rapport au nombre d’articulations) et des comportements déformables pour se conformer à l’objet saisi, voient le jour afin de répondre à cette promesse. Les capacités d’adaptation de ces types de préhenseurs permettent une saisie plus sûre

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Tysk, Carl, and Jonathan Sundell. "Adaptive detection of anomalies in the Saab Gripen fuel tanks using machine learning." Thesis, Uppsala universitet, Signaler och system, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-414208.

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Gripen E, a fighter jet developed by Saab, has to fulfill a number of specifications and is therefore tested thoroughly. This project is about detecting anomalies in such tests and thereby improving the automation of the test data evaluation. The methodology during this project was to model the expected deviation between the measured signals and the corresponding signals from a fuel system model using machine learning methods. This methodology was applied to the mass in one of the fuel tanks. The challenge lies in the fact that the expected deviation is unknown and dependent on the operating c

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Chang, Han-Sheng, and 張瀚升. "Self-Adaptive Three-Finger Gripper and Its Fuzzy Controller Design." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/6dne7k.

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碩士 淡江大學 電機工程學系碩士班 103 Two grippers are designed and implemented in this thesis. One is a modularization of a parallel opening and closing two-gripper and the other is a self-adaptive three-finger gripper. In the modular design of a parallel opening and closing two-gripper, a method is proposed to enforce the stability of the gripper in the status of parallel opening and closing. It can improve the transmission efficiency. Moreover, a circuit is redesigned so that its size is reduced to be installed inside of the mechanism. It can solve the problem that the circuit needs to be separ

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Lin, Yi-Cheng, and 林羿丞. "Force and Position Control for Self-Adaptive Three-Finger Gripper." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/18545532878512913149.

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碩士 淡江大學 電機工程學系碩士班 104 A design and implementation method of a self-adaptive three-finger gripper is proposed in this thesis. There are two methods, one is the gripper mechanism and the other is the gripper control. In the gripper mechanism design of this self-adaptive three-finger gripper, an underactuated mechanism with a self-adaptive finger is designed so that it can change the shape of three-finger to grip the object based on its shape. In the gripper control, two control types are proposed. One is a position control and the other is a force control. In the position control, a

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Cheng, Li-Wei, and 鄭力維. "Research and Development of Multi Degree of Freedom Adaptive Gripper through Mechatronic Integration." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/5hjs9z.

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Wei-TingChen and 陳威廷. "Topology Optimization Based on Parameterized Level Set Method for Design of an Adaptive Compliant Gripper." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/p272v4.

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碩士 國立成功大學 機械工程學系 107 This study presents a level set based topology optimization method to design an adaptive compliant gripper with maximum mechanical advantage. The adaptive compliant gripper is a compliant mechanism which can be used in handling of fragile objects with size and shape variations. The mechanical advantage is defined as the ratio of output force to input force. For a same input force condition, a higher mechanical advantage implies a larger output force, which leads to a higher payload for the compliant gripper. A parameterized level set method is used to perform t

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Chen-HuaChiu and 邱震華. "Topology Optimization and Size Optimization for Design of an Adaptive Compliant Gripper with Maximum Mechanical Advantage." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/67263362140185755810.

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碩士 國立成功大學 機械工程學系 104 This study presents a systematic optimal design procedure to develop an adaptive compliant gripper (ACG) for grasping objects with various sizes and shapes. A soft-add topology optimization algorithm, reversed bi-directional evolutionary structural optimization (RBESO) considering both geometric advantage and mechanical advantage of the analyzed compliant mechanism, is developed to synthesize the optimal layout of the ACG with better computational efficiency. One special characteristic of the proposed method is that the elements are equivalent to be numerically

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Buchteile zum Thema "Adaptive gripper"

Turek, Jan, Lukas Miskarik, Jiri Vojtesek, Lukas Kopecek, Lucie Svacinova, and Ales Mizera. "Innovative Adaptive Industrial Gripper." In Lecture Notes in Mechanical Engineering. Springer Nature Switzerland, 2025. https://doi.org/10.1007/978-3-031-93554-1_38.

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Petković, D., and N. D. Pavlović. "A New Principle of Adaptive Compliant Gripper." In Mechanisms, Transmissions and Applications. Springer Netherlands, 2011. http://dx.doi.org/10.1007/978-94-007-2727-4_13.

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Patil, Yashraj M., N. I. Jamadar, Lalit N. Patil, and Digvijay G. Bhosale. "Design and Analysis of an Adaptive Robotic Gripper." In Lecture Notes in Mechanical Engineering. Springer Nature Singapore, 2024. http://dx.doi.org/10.1007/978-981-99-7445-0_1.

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Li, Zeming, and Wenzeng Zhang. "The FBP Gripper: Pin-Array Self-adaptive Gripper Based on Fluid-Driven Bellow Piston Mechanism." In Intelligent Robotics and Applications. Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-89095-7_28.

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Domínguez-López, Jorge Axel. "Adaptive Neuro-Fuzzy-Expert Controller of a Robotic Gripper." In Lecture Notes in Computer Science. Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/11579427_105.

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Milojević, A., and N. D. Pavlović. "Development of Adaptive Compliant Gripper Finger with Embedded Actuators." In Mechanisms and Machine Science. Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-15862-4_4.

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Frîncu, Cezar, Ioan Stroe, and Ionel Staretu. "Sensory System of an Adaptive Gripper for Industrial Robots." In Mechanisms and Machine Science. Springer Nature Switzerland, 2025. https://doi.org/10.1007/978-3-031-87537-3_1.

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Oscari, F., S. Minto, and G. Rosati. "Functional Design of a Robotic Gripper for Adaptive Robotic Assembly." In Mechanisms and Machine Science. Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-48375-7_28.

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Milojević, A., N. D. Pavlović, S. Linß, M. Tomić, N. T. Pavlović, and H. Handroos. "A Concept of Adaptive Two Finger Gripper with Embedded Actuators." In Mechanisms and Machine Science. Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-45387-3_21.

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Milojević, A., N. D. Pavlović, and H. Handroos. "Adaptive Compliant Gripper Finger with Embedded Contracting and Extending Actuators." In New Advances in Mechanisms, Mechanical Transmissions and Robotics. Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-45450-4_47.

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Konferenzberichte zum Thema "Adaptive gripper"

Jonetzko, Yannick, Theresa Alexandra Aurelia Naß, Niklas Fiedler, and Jianwei Zhang. "State Estimation of an Adaptive 3-Finger Gripper using Recurrent Neural Networks." In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2024. https://doi.org/10.1109/iros58592.2024.10802760.

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Canali, C., F. Cannella, F. Chen, et al. "High Reconfigurable Robotic Gripper for Flexible Assembly." In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/detc2014-35245.

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This paper describes a general purpose gripper to be used into industrial manufacturing application. The gripper has been developed in the context of the AUTORECON project. It is based on a 2 degrees of freedom finger that is able to adapt itself to objects of various shape, size, material and weight. Thanks to its highly reconfigurable and adaptive capabilities, the gripper described here is an attempt to create a gripper suitable in industrial application to assemble compounds of several different workpieces using only one robot. The high dexterity and the wide range of possible uses of the

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Var, Sezer C. S., and Jovana Jovanova. "Design of a Soft Underwater Gripper With SMA Actuation." In ASME 2023 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2023. http://dx.doi.org/10.1115/smasis2023-111702.

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Abstract Underwater robot tasks pose many challenges for conventional robotic systems. The current rigid robots are limited in their adaptability to the environment and the objects to be manipulated. Soft grasping of objects offers advantages due to the flexibility when dealing with, for example, living organisms, random shaped objects, and coral reefs. Additionally, conventional robotic systems face difficulties when exploring the planet’s deep waters due to higher pressures and susceptibility of the often large amount of electronics to underwater conditions. Smart materials such as shape mem

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Scholtes, Dominik, Stefan Seelecke, Gianluca Rizzello, and Paul Motzki. "Design of a Compliant Industrial Gripper Driven by a Bistable Shape Memory Alloy Actuator." In ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/smasis2020-2204.

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Abstract Within industrial manufacturing most processing steps are accompanied by transporting and positioning of workpieces. The active interfaces between handling system and workpiece are industrial grippers, which often are driven by pneumatics, especially in small scale areas. On the way to higher energy efficiency and digital factories, companies are looking for new actuation technologies with more sensor integration and better efficiencies. Commonly used actuators like solenoids and electric engines are in many cases too heavy and large for direct integration into the gripping system. Du

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Carpenter, Ryan, Ross Hatton, and Ravi Balasubramanian. "Comparison of Contact Capabilities for Underactuated Parallel Jaw Grippers for Use on Industrial Robots." In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/detc2014-35490.

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In this paper, we propose the addition of passive hydraulic mechanisms to simple parallel robotic grippers for improving disturbance rejection while maintaining the low cost of an industry standard gripper design. Each adaptive jaw on our gripper consists of three parallel hydraulic cylinders that are connected to a common local reservoir. The resultant passive hydraulic system is fully encased in the finger and moves independently of the actuator that closes the fingers. Such a design eliminates the need to engineer a complex cable or linkage system to allow for finger adaptability as many un

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Zhang, Wei, Jonathan Hong, Saad Ahmed, Zoubeida Ounaies, and Mary Frecker. "Parametric Design of a Soft Gripper Actuated Using the Electrostrictive PVDF-Based Terpolymer." In ASME 2018 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/smasis2018-7966.

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Nowadays, soft grippers, which use compliant mechanisms instead of stiff components to achieve grasping action, are being utilized in an increasing range of engineering fields, such as food industry, medical care and biological sample collection, for their material selection, high conformability and gentle contact with target objects compared to traditional stiff grippers. In this study, a three-fingered gripper is designed based on a simple actuation mechanism but with high conformability to the object and produces relatively high actuation force per unit mass. The electrostrictive PVDF-based

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Wu, Yaxin, He Xu, Siqing Chen, Qiandiao Wei, Xiao Xiong, and Hao Yin. "Fluid Driven Soft Robotic Gripper With Biomimetic Enclosed Structure and Self-Adaptive Grasp." In ASME/BATH 2023 Symposium on Fluid Power and Motion Control. American Society of Mechanical Engineers, 2023. http://dx.doi.org/10.1115/fpmc2023-111431.

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Abstract Soft grasping robot is an important research field in soft robot technology. It is a big problem for soft grippers to solve low load gripping and low grasping success rate. For solving these problems, a kind of enclosed structure soft gripper expansion type (ET) is proposed. The ET is driven by hydraulic or pneumatic system with stable force and high reliability. The ET is proposed based on an enclosed grasping mechanism, and based on the biomimetic underwater swallowing design method. The ET which has both advantages of economy and flexibility, self-adaptive grasps through negative p

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Le, Loan, Matteo Zoppi, Michal Jilich, Han Bo, Dimiter Zlatanov, and Rezia Molfino. "Application of a Biphasic Actuator in the Design of a Robot Gripper for Garment Handling." In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/detc2014-35396.

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The paper describes a novel robot gripper for garment handling. The device has been designed, developed, prototyped, and tested within the CloPeMa European Project creating a robot system for automated manipulation of clothing and other textile items. The gripper has two degrees of freedom and includes both rigid and flexible elements. A variable-stiffness actuator has been implemented to add controlled compliance in the gripper’s operation allowing the combining of various grasping and manipulation tasks. First, we analyze the specific application-determined task requirements, focusing on the

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Strelkova, Dora, and Ruth Jill Urbanic. "Art Meets Automotive: Design of a Curve-Adaptive Origami Gripper for Handling Textiles on Non-Planar Mold Surfaces." In WCX SAE World Congress Experience. SAE International, 2024. http://dx.doi.org/10.4271/2024-01-2575.

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<div class="section abstract"><div class="htmlview paragraph">The handling of flexible components creates a unique problem set for pick and place automation within automotive production processes. Fabrics and woven textiles are examples of flexible components used in car interiors, for air bags, as liners and in carbon-fiber layups. These textiles differ greatly in geometry, featuring complex shapes and internal slits with varying material properties such as drape characteristics, crimp resistance, friction, and fiber weave. Being inherently flexible and deformable makes these mate

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John, Benjamin, Thomas Schubert, Matthias Casper, Tino Karl, Kenny Pagel, and Welf-Guntram Drossel. "A Novel Design of Shape-Memory Alloy Actuated Grippers." In ASME 2023 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2023. http://dx.doi.org/10.1115/smasis2023-110416.

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Abstract Given the increasing requirements for enhanced performance, accuracy, space efficiency and complexity in industry, there is a need for robots and industrial grippers to become faster, lighter, and more precise. Moreover, due to various reasons including energy efficiency concerns, there is a growing demand for compressed air-free production or, at the very least, severely curtailed compressed air usage. To address this challenge, this paper introduces a novel approach for industrial grippers that employs shape memory wires, leveraging injection molding automation as a specific use cas

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