Relevant bibliographies by topics / Adaptive gripper

Academic literature on the topic 'Adaptive gripper'

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Published: 25 May 2024

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Journal articles on the topic "Adaptive gripper"

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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 less complex control algorithms. The fully compliant mechanism has multiple degrees of freedom and can be considered as an underactuated mechanism. This paper presents a new design of the adaptive underactuated compliant gripper with distributed compliance and embedded sensors in the gripper structure. The adaptive gripper surfaces will have the sensing capability by these embedded sensors. The gripper will be made of a silicone rubber and conductive silicone rubber will be used for the embedded sensors. The main points of this paper are in explanation of the construction and production of the gripper structure and showing the methodology of a new sensing capability of the gripper.
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Peng, Zhikang, Dongli Liu, Xiaoyun Song, Meihua Wang, Yiwen Rao, Yanjie Guo, and Jun Peng. "The Enhanced Adaptive Grasping of a Soft Robotic Gripper Using Rigid Supports." Applied System Innovation 7, no. 1 (February 12, 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 performance of soft grippers with rigid supports are discussed in this paper.
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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 (July 1, 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 the gripping module, and details of the kinematic analysis and of the design of the components in the CATIA software are given. After obtaining the 3D version of the gripping module, its functional simulation and ADAMS analysis is performed. The sensory system used at the level of the jaws is also described and then the gripper assembly is obtained including a base plate and five gripper modules and as a result an adaptive gripper with five jaw holder elements is created. Next is the functional simulation of the adaptive gripper for gripping several types of parts. The prototype made and the test are presented for gripping five types of parts and we show the prospects of continuing this research with practical applicability by mounting on a robot and implementing in a robotic line for gripping and handling a series of parts of various shapes and sizes.
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Kang, Bongki, and Joono Cheong. "Development of Two-Way Self-Adaptive Gripper Using Differential Gear." Actuators 12, no. 1 (December 28, 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 drive the two tips of the gripper. If facing uneven external loads, the differential gear adaptively alters the speeds of the two outputs, resulting in different closing speeds of the two gripper tips. Despite asymmetric closing, very stable grasping can be guaranteed for such a situation. The differential gear can even complete the grasping by intentionally or unintentionally fixing one of the gripper tips. The proposed design is also capable of shape adaptation in the encompassing grasping mode by adopting a parallel-linkage gripper mechanism, consisting of an exoskeleton and 6 internal joints with a spring element. The finger exoskeleton facilitates pinch and spread actions, while the encompassing action is carried out by adjusting the internal linkage. Based on the kinematic analysis and modeling of the proposed gripper, a prototype of the two-way adaptive gripper hardware was developed. Several experiments were performed to verify the feasibility and validity of the proposed gripper system. The actuator using the proposed differential gear was shown to be able to grasp objects in jammed conditions. In addition, the gripper was able to perform grasping actions, such as pinch, spread, and encompassing grasp.
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Portman, V., L. Slutski, and Y. Edan. "An adaptive locating problem for robotic grasping." Robotica 19, no. 3 (April 25, 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 conditions for part behavior during the successive steps of the locating process. This process was simulated and then experimentally investigated on an actual gripper model. The proposed new class of mechanisms opens a promising avenue to the creation of a practical class of universal robotic grippers for industry.
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Rahman, Md Mahbubur, Md Tanzil Shahria, Md Samiul Haque Sunny, Md Mahafuzur Rahaman Khan, Emroze Islam, Asif Al Zubayer Swapnil, David Bedolla-Martínez, and Mohammad H. Rahman. "Development of a Three-Finger Adaptive Robotic Gripper to Assist Activities of Daily Living." Designs 8, no. 2 (April 14, 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 data are not available even on how many Activities of Daily Living (ADL) objects they can handle. The goal of the research is to offer a new three-fingered gripper for daily living assistance, which can both grasp and pinch with adaptive force, enabling the capabilities of handling wide-ranging ADL objects with a minimal footprint. It is designed to handle 90 selective essential ADL objects of different shapes (cylindrical, irregular, rectangular, and round), sizes, weights, and textures (smooth, rough, bumpy, and rubbery). The gripper boasts a meticulously engineered yet simple design, facilitating seamless manufacturing through 3D printing technology without compromising its operational efficacy. The gripper extends its functionality beyond conventional grasping, featuring the capability to pinch (such as holding a credit card) and securely hold lightweight objects. Moreover, the gripper is adaptable to grasping various objects with different shapes and weights with controlled forces. In evaluation, the developed gripper went through rigorous load tests and usability tests. The results demonstrated that the users picked and placed 75 objects out of 90 daily objects. The gripper held and manipulated objects with dimensions from 25 mm to 80 mm and up to 2.9 kg. For heavy-weight objects (like books) where the centroid is far apart from the grasping areas, it is difficult to hold them due to high torque. However, objects’ textures have no significant effect on grasping performance. Users perceived the simplicity of the gripper. Further investigation is required to assess the utility and longevity of grippers. This study contributes to developing assistive robots designed to enhance object manipulation, thereby improving individuals’ independence and overall quality of life.
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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 acquisition circuit is built, and force and bending sensors are integrated into the robotic gripper to measure the contact force distribution on the contact surface and the deformation of the soft fingers. A robotic manipulator platform is developed to collect the tactile sensing data in the grasping process. The performance of the random forest (RF), k-nearest neighbor (KNN), support vector classification (SVC), naive Bayes (NB), linear discriminant analysis (LDA), and ridge regression (RR) classifiers in identifying and classifying five types of fruits using the adaptive gripper is evaluated and compared. The RF classifier achieves the highest accuracy of 98%, while the accuracies of the other classifiers vary from 74% to 97%. The experiment illustrates that efficient and accurate fruit identification can be realized with the adaptive gripper and machine learning classifiers, and that the proposed method can provide a reference for controlling the grasping force and planning the robotic motion in the plucking, picking, and harvesting of fruits and vegetables.
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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 (September 2, 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 structure and dual-tendon winding path design. At last, a prototype of the novel gripper is manufactured and some grasping experiments are carried out on multiple categories of objects, with different sizes and shapes. The experimental results show that all the objects can be clamped tightly. Compared with the traditional single-tendon-driven gripper, the novel one can achieve a more flexible grasping operation and a larger end clamping force, which are more suitable for the adaptive grasping requirements of robotic automatic sorting.
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Carpenter, Ryan, Ross Hatton, and Ravi Balasubramanian. "Evaluation of linear and revolute underactuated grippers for steel foundry operations." Industrial Robot: An International Journal 42, no. 4 (June 15, 2015): 314–23. http://dx.doi.org/10.1108/ir-01-2015-0004.

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Purpose – The purpose of this paper is to develop an automated industrial robotic system for handling steel castings of various sizes and shapes in a foundry. Design/methodology/approach – The authors first designed a prismatic gripper for pick-and-place operations that incorporates underactuated passive hydraulic contact (PHC) phalanges that enable the gripper to easily adapt to different casting shapes. The authors then optimized the gripper parameters and compared it to an adaptive revolute gripper using two methods: a planar physics based quasistatic simulation that accounts for object dynamics and validation using physical prototypes on a physical robot. Findings – Through simulation, the authors found that an optimized PHC gripper improves grasp performance by 12 per cent when compared to an human-chosen PHC configuration and 60 per cent when compared to the BarrettHand™. Physical testing validated this finding with an improvement of 11 per cent and 280 per cent, respectively. Originality/value – This paper presents for the first time optimized prismatic grippers which passively adapt to an object shape in grasping tasks.
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Wang, Kai, and Xing Song Wang. "Adaptive Impedance Control for a Tendon-Sheath-Driven Compliant Gripper." Applied Mechanics and Materials 532 (February 2014): 74–77. http://dx.doi.org/10.4028/www.scientific.net/amm.532.74.

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This paper investigates the feasibility of adaptive impedance control scheme for compliant gripper. A compliant gripper was designed for manipulation tasks requiring precision position and force control. The gripper is actuated by tendon-sheath transmission system and use strain gages to measure both the displacement and gripping force. Position based impedance control is used to control the contact force to made the gripper more compliantly. Due to the nonlinear of the structure; it is difficult to establish the mathematic model and kinematical equations. Therefore, combine model reference adaptive control strategy with impedance control to realize the soft control of the compliant gripper.
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Dissertations / Theses on the topic "Adaptive gripper"

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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 results show that it can adapt the grasp technique and grasping force to the objects’ size and softness. It also shows that adding one more grasp technique made it possible to grasp more objects, compared to a different gripper with a single grasp technique which were used as a foundation for this thesis.
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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 controls the fingers. This is the basis for creating an adaptive gripper that can grip objects of unknown shape, size or position. This control system in combination with a controller for a robotic manipulator arm lets the gripper attempt to grip objects even if they are out of reach. By passing requests up to an overall control system, the gripper can request a translation to a position that gives it a better chance at performing a successful grip on the targeted object. In this project, the controller for the gripper is created, and the communication to and from the manipulator control system is replaced with a simple user-interface. This user interface offers a way of testing the complete system without the use of a manipulator arm. The translations from the gripper is read out, and the target object is moved by hand, in the opposite direction. This solution offers a simple way to expand the system to include the manipulator and its control system in later editions. Initial experiments were successful, with the gripper successfully able to pick up different objects. An apple, an empty soda can (both upright and lying down) and a chocolate egg were all picked up and held firmly without damaging the object. Complications arose with regards to the sensitivity of the sensors. They were generally unable to register any pressure when the fingers came in contact with lighter objects, and had to push the objects against the other two fingers. Another problem that arose was the stability of the application created. The program was based on multi-threading, and real-time sensor analysis. The application crashing did cause some objects to be damaged in the experiments, as the application logic could not halt the fingers despite pressure being registered. Future work should focus on restructuring the application logic to improve the stability, and the control system for the manipulator arm.

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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 à la fois pour la réalisation des tâches qui leur sont confiées, mais aussi pour l’intégrité matérielle des objets qui sont saisis. Elles permettent donc la réalisation d’applications dans de nombreux domaines tels l’industrie manufacturière ou l’industrie agroalimentaire, en apportant des solutions là où les préhenseurs rigides traditionnels étaient mis en difficulté. Partant de ce constat les travaux présentés dans ce manuscrit se sont intéressés à l’étude de la stabilité de la prise lors de l’utilisation de préhenseurs adaptatifs, afin de quantifier l’adéquation d’une prise donnée avec la tâche pour laquelle celle-ci est synthétisée. Le but étant in fine d’assister et/ou d’automatiser la sélection de prise en fonction de la tâche choisie
The promise of flexible and adaptable production brought by Industry 4.0 makes adaptive object grasping a particularly promising topic in both the scientific and industrial domains. Numerous designs of adaptive grippers, integrating both underactuation mechanics (reduced number of actuators compared to the number of joints) and deformable behaviors to conform to the grasped object, are emerging to meet this promise. The adaptability of these types of grippers allows for safer grasping, both for the tasks they are designed to perform, but also for the physical integrity of the objects being grasped. They therefore allow the realization of applications in many fields such as the manufacturing industry or the food industry, by bringing solutions where traditional rigid grippers were put in difficulty. Based on this observation, the work presented in this manuscript is interested in the study of grasp stability when using adaptive grippers, in order to quantify the adequacy of a given grasp with the task for which it is synthesized. The goal is to assist and/or automate grasp selection according to the chosen task
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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 conditions of the fuel system in the aircraft. Furthermore, two different machine learning approaches to estimate a prediction interval, within which the residual was expected to be, were tested. These were quantile regression and a variance estimation based method. The machine learning models used in this project were LSTM, Ridge Regression, Random Forest Regressor and Gradient Boosting Regressor. One of the problems encountered was imbalanced data, since different operating modes were not equally represented. Also, whether the time dependency of the signals had to be taken into account was investigated. Moreover, choosing which input signals to use for the machine learning methods had a large impact on the result. The concept appears to work well. Known anomalies were detected, and with a low degree of false alarms. The variance estimation based approach seems superior to quantile regression. For data containing anomalies, the target signal drifted away significantly outside the boundaries of the prediction interval. Such test flights were flagged for anomaly. Furthermore, the concept was also successfully verified for another fuel tank, with only minor and obvious adaptations, such as replacing the target signal with the new one.
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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 separately installed in the manipulator. In the design of self-adaptive three-finger gripper, there are two parts: mechanism and controller. In the mechanism design of 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. It can achieve the purpose that the gripper can stability grip objects of various shapes. Because the underactuated mechanism can change the finger shape, it can''t sure the object be gripped tightly. In the controller design of self-adaptive three-finger gripper, a fuzzy controller is proposed. The speed of motor is determined based on the torque mode selected by the user and the current feedback by the current sensor when the gripper is gripping objects. Let the gripper can actually grip objects.
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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 fuzzy PID control based on the motor current position obtained by a motor encoder is proposed to control the grabbing and loosening status of gripper. It can adjust the appropriate gesture in advanced according to the shape and size of object to eliminate the grabbing and loosening period of the gripper. In the force control, a fuzzy controller based on the current obtained by a current sensor is proposed to determine a rotational speed of the brushless DC motor to control the tightness of the gripper while this gripper is grabbing. According to the feedback to compute the displacement after the motor contacts the object, it can corroborate the tightness when the object is grabbed. The more amount of the displacement the tighter the gripper grabs the object. Some experimental results are presented to illustrate the proposed two control types can let the gripper can effectively grab objects.
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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 topology optimization, which is with the advantages such as having smoother structural boundaries and a black and white design without gray elements. A hinge free method is used to minimize the de facto hinge problem, and a material removal scheme is proposed to speed up the numerical computation process. The classical benchmark problems in topology optimization literature including inverter mechanism and crunching mechanism are used as the verification examples to demonstrate the effectiveness of the proposed numerical method. The objective functions including mechanical advantage, geometric advantage, and a strain energy based function are used in this study. The proposed method is used to design the compliant gripper. Five analysis cases are performed, and an optimal design is identified according to the design rules and the results from finite element simulation. A compliant gripper module including actuator and 3D printed compliant fingers is prototyped then mounted on a six-axis industrial robot for grasping test. The test results show the developed compliant gripper can grip unknown objects with the size up to 141mm, and the maximum payload is 2.5 kg. The proposed motor-driven compliant gripper can be used to resolve the challenging issue for robotic automation of irregular and fragile objects, as well as to increase the productivity and reduce the cost for industrial automation.
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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 added into the analysis domain. As the target volume fraction in topology optimization for the analyzed compliant mechanism is usually below 30% of the initial design domain, the traditional methods which remove elements from 100% become inefficient. A size optimization procedure by using a mixed method combing Augmented Lagrange Multiplier (ALM) method and Simplex method is also proposed to maximize the mechanical advantage of the ACG. After the optimal design is obtained, both finite element analysis and experimental tests are carried out to analyze the design. Five ACGs are prototyped using silicon rubber. A performance index for grasping objects with ACGs has also been proposed to evaluate the grasping performance of various designs. The results show the developed ACGS2 gripper is with the highest performance index, which represents the gripper is with better adaptability, faster response, higher payload and stability in overall. The outcomes of this study provide numerical methods for design and analysis of adaptive compliant mechanisms with large deformation and contact nonlinearity, as well as to develop an innovative compliant gripper for grasping objects with geometric inconsistency.
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Book chapters on the topic "Adaptive gripper"

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Petković, D., and N. D. Pavlović. "A New Principle of Adaptive Compliant Gripper." In Mechanisms, Transmissions and Applications, 143–50. Dordrecht: 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, 1–17. Singapore: 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, 284–92. Cham: 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, 1032–41. Berlin, Heidelberg: 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, 33–49. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-15862-4_4.

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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, 257–65. Cham: 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, 239–50. Cham: 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, 465–72. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-45450-4_47.

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Zhao, Deyang, and Wenzeng Zhang. "Changeable Grasping Force Unit for Under-Actuated Gripper with Self-adaptive Grasping." In Intelligent Robotics and Applications, 13–25. Berlin, Heidelberg: Springer Berlin Heidelberg, 2010. http://dx.doi.org/10.1007/978-3-642-16584-9_2.

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Chu, Zhongyi, Ye Ma, Miao Zhou, and Fuchun Sun. "Experiment on Self-adaptive Impedance Control of Two-Finger Gripper with Tactile Sensing." In Communications in Computer and Information Science, 261–75. Singapore: Springer Singapore, 2017. http://dx.doi.org/10.1007/978-981-10-5230-9_28.

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Conference papers on the topic "Adaptive gripper"

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Canali, C., F. Cannella, F. Chen, T. Hauptman, G. Sofia, D. G. Caldwell, and A. A. Eytan. "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 gripper described here intends to explore a new approach to the design of industrial grippers to be used in factory automation. Moreover, the adaptive capabilities of this gripper make it suitable to grasp workpieces with complicated geometry or highly irregular shape, as it has been proved in performed automotive test rig described here.
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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 memory alloys can be more advantageous for the actuation of soft robotic underwater grippers because there is less need for complex electronic systems. Therefore, this project explores the use of smart materials for the actuation of a soft robotic underwater gripper. With this aim, three different gripper designs were made and evaluated. Various flexible materials, smart materials, 3D printing settings, numerous gripper configurations, and manufacturing methods are investigated. The gripper is intended to be a maintenance and inspection addon for an underwater autonomous vehicle.
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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. Due to their high energy density shape memory alloys (SMA) are suited to overcome those drawbacks of conventional actuators. Additionally, they feature self-sensing abilities that lead to sensor-less monitoring and control of the actuation system. Another drawback of conventional grippers is their design, which is based on moving parts with linear guides and bearings. These parts are prone to wear, especially in abrasive environments. This can be overcome by a compliant gripper design that is based on flexure hinges and thus dispenses with joints, bearings and guides. In the presented work, the development process of a functional prototype for a compliant gripper driven by a bistable SMA actuation unit for industrial applications is outlined. The focus lies on the development of the SMA actuator, while the first design approach for the compliant gripper mechanism with solid state joints is proposed. The result is a working gripper-prototype which is mainly made of 3D-printed parts. First results of validation experiments are discussed.
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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 underactuated grippers do. Specifically, hydraulic cylinders need only be selected and connected together. As with other underactuated devices, the unconstrained freedoms of this design allow the gripper to adapt to unknown objects instead of creating a custom gripper shape for each new object the robot needs to grasp. In this paper, we analyze the ability of this gripper to maximize contact points over various sized objects and object placements while creating immobilizing form closure grasps. We than tested these improvements on a physical robot and found that grasp performance increased by up to 30% over a gripper lacking underactuation.
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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 terpolymer is applied as the self-folding actuation mechanism. Finite element analysis (FEA) models are developed to predict the deformation of the folded shape and grasping force of the gripper with two grasp modes, i.e. enveloping grasp and parallel grasp. The FEA models achieved good agreement with experiments. Design optimization is then formulated and a parametric design is conducted with objectives to maximize free deflection and blocked force of the gripper. The design variables are the thicknesses of the active and passive materials, and the nature of the passive layer. It is found that there exists an optimal terpolymer thickness for a given scotch tape substrate thickness to achieve maximum free deflection, and the blocked force always increases as either thickness of terpolymer or scotch tape increases. As the length of the notch increases, free deflection also increases due to more pronounced folding behavior of the actuator, but the blocked force decreases since the actuator is less stiff. The tradeoff between free deflection and blocked force is critical for the final decision on the optimal design for a particular application.
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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 pressure and positive pressure. The ET achieves the modular, mobile and adaptive grasping ability. The ET classifies as gripper A (GA) and gripper B (GB). GA has more load capacity, and GB can grab larger irregular objects. The maximum load that ET achieving is 30 N, which is able to reliably grasp objects and hold them with a force several times their weight. The side of the object is separated from the outside world as far as possible, and the inner wall of the ring is stuck to the object by the swallowing structure to the maximum extent, so as to improve the friction force as far as possible, achieve self-adaptation and save energy at the same time. When reducing the gap between the ring inner wall of the soft gripper and the target object, it further reduces the gap through pressure in case of emergencies, so as to better grip force, so that the gripper has a better fault tolerance rate and inclusiveness when it holds the object.
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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 need for adaptive flexibility and the role of compliant elements in the design. The chosen solution is a simple planar mechanism, equipped with one standard and one variable-stiffness actuator. The mechanical design of the gripper, including the hydraulic system used in the biphasic actuator, is outlined, and the control architecture, using sensor feedback, is described.
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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. 400 Commonwealth Drive, Warrendale, PA, United States: 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 materials difficult to handle with traditional rigid grippers. Current solutions employ adhesive, needle-based, and suction strategies, yet these systems prove a higher risk of leaving residue on the material, damaging the weave, or requiring complex assemblies. Pincer-style grippers are suitable for rigid components and offer strong gripping forces, yet inadvertently may damage the fabric, and introduce wrinkles / folded-over edges during the release process. Non-planar surfaces such as the curvature of a mold, introduce additional placement challenges. Thus, a contour-adapting end-effector able to manipulate textiles without damage is desired. This research explores the feasibility of a Miura-Origami fold for material handling. The geometric tessellation is to create a curve-fitting, self-collapsing gripper. Living hinge elements are integrated to achieve controlled compliance. Variants are built using a material extrusion additive manufacturing process. The design parameters are outlined, and a set of origami grippers are built for experimental testing. The compression forces and deflection are measured. These grippers are spring-like but exhibit some unique characteristics. More research needs to be performed to understand the merits and limitations of this gripper strategy.</div></div>
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Kim, Giseong, and Han Sung Kim. "Optimal Design of a Novel Adaptive Gripper." In 2020 6th International Conference on Mechatronics and Robotics Engineering (ICMRE). IEEE, 2020. http://dx.doi.org/10.1109/icmre49073.2020.9065140.

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Telegenov, Kuat, Yedige Tlegenov, and Almas Shintemirov. "An underactuated adaptive 3D printed robotic gripper." In 2014 10th France-Japan/ 8th Europe-Asia Congress on Mecatronics (MECATRONICS). IEEE, 2014. http://dx.doi.org/10.1109/mecatronics.2014.7018563.

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