Relevant bibliographies by topics / Industrial gripper

Academic literature on the topic 'Industrial gripper'

Author: Grafiati
Published: 14 March 2023

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Journal articles on the topic "Industrial gripper"

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Song, Eun Jeong, Jung Soo Lee, Hyungpil Moon, Hyouk Ryeol Choi, and Ja Choon Koo. "A Multi-Curvature, Variable Stiffness Soft Gripper for Enhanced Grasping Operations." Actuators 10, no. 12 (November 29, 2021): 316. http://dx.doi.org/10.3390/act10120316.

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For soft grippers to be applied in atypical industrial environments, they must conform to an object’s exterior shape and momentarily change their stiffness. However, many of the existing grippers have limitations with respect to these functions: they grasp an object with only a single curvature and a fixed stiffness. Consequently, those constraints limit the stability of grasping and the applications. This paper introduces a new multicurvature, variable-stiffness soft gripper. Inspired by the human phalanx and combining the phalanx structure and particle jamming, this work guarantees the required grasping functions. Unlike the existing soft pneumatic grippers with one curvature and one stiffness, this work tries to divide the pressurized actuating region into three parts to generate multiple curvatures for a gripper finger, enabling the gripper to increase its degrees of freedom. Furthermore, to prevent stiffness loss at an unpressurized segment, this work combines divided actuation and the variable-stiffness capability, which guarantee successful grasping actions. In summary, this gripper generates multiple grasping curvatures with the proper stiffness, enhancing its dexterity. This work introduces the new soft gripper’s design, analytical modeling, and fabrication method and verifies the analytic model by comparing it with FEM simulations and experimental results.
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Velineni, Poornesh, Jayasuriya Suresh, Naveen Kumar C, and Suresh M. "Design of Pneumatic Gripper for Pick and Place Operation (Four Jaw)." International Research Journal of Multidisciplinary Technovation 2, no. 2 (March 30, 2020): 1–8. http://dx.doi.org/10.34256/irjmt2021.

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Grippers are attached at the end of an industrial arm robot for material handling purpose. Grippers plays a major role in all pick and place application industries. Those are connected as end effectors to realize and develop a task in an industrial work floor. Pneumatic gripper works with the principle of compressed air. The gripper is connected to a compressed air supply. When air pressure is applied on the piston, the gripper gets opened while the air gets exist from the piston it gets closed. It is possible to control the force acting on the gripper by controlling the air pressure with the help of the valve. The objective is to design an effective, simple, and economic gripper for pick and place application.
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Schmalz, Johannes, Lucas Kiefer, and Florian Behncke. "Analysis of the System Handling Using Methods of Structural Complexity Management." Applied Mechanics and Materials 794 (October 2015): 27–34. http://dx.doi.org/10.4028/www.scientific.net/amm.794.27.

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The use of industrial grippers induces to deal with the system grippers are embedded in. Besides the gripper this includes the environment, the handling device the gripper is attached to, the task the gripper should perform and the part to be handled. All this domains form the system handling. The paper analyses this system using different methods of the field of structural complexity management. Objective is to identify the most important and most influential factors governing the system.
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Jamaludin, A. S., M. N. M. Razali, N. Jasman, A. N. A. Ghafar, and M. A. Hadi. "Design of spline surface vacuum gripper for pick and place robotic arms." Journal of Modern Manufacturing Systems and Technology 4, no. 2 (September 30, 2020): 48–55. http://dx.doi.org/10.15282/jmmst.v4i2.5181.

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The gripper is the most important part in an industrial robot. It is related with the environment around the robot. Today, the industrial robot grippers have to be tuned and custom made for each application by engineers, by searching to get the desired repeatability and behaviour. Vacuum suction is one of the grippers in Watch Case Press Production (WCPP) and a mechanism to improve the efficiency of the manufacturing procedure. Pick and place are the important process for the annealing process. Thus, by implementing vacuum suction gripper, the process of pick and place can be improved. The purpose of vacuum gripper other than design vacuum suction mechanism is to compare the effectiveness of vacuum suction gripper with the conventional pick and place gripper. Vacuum suction gripper is a mechanism to transport part and which later sequencing, eliminating and reducing the activities required to complete the process. Throughout this study, the process pick and place became more effective, the impact on the production of annealing process is faster. The vacuum suction gripper can pick all part at the production which will lower the loss of the productivity. In conclusion, vacuum suction gripper reduces the cycle time about 20%. Vacuum suction gripper can help lower the cycle time of a machine and allow more frequent process in order to increase the production flexibility.
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Bergelin, B., B. Slaboch, J. Sun, and P. A. Voglewede. "A handy new design paradigm." Mechanical Sciences 2, no. 1 (February 8, 2011): 59–64. http://dx.doi.org/10.5194/ms-2-59-2011.

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Abstract. In light of technological advances, researchers have lost sight of robotic grippers/end effectors design intent. In a semi-structured environment the biomimetic approach is impractical due to the high complexity of the mechanism and control algorithms. Current industrial grippers are robust, but lack the flexibility that allows for in hand manipulation. The authors believe that underactuated grippers provide the best approach to allow for in hand manipulation along with being rugged enough for an industrial setting. Thinking of the robotic gripper and the robotic arm as one system (as opposed to two separate subsystems), one is capable of using the degrees of freedom of the robot in conjunction with that of the gripper to provide the desired motion profile without the complexity of running two subsystems. This paper will outline where recent grippers have failed and will introduce a new design paradigm for grippers along with several underactuated gripper ideas. This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010), 19 August 2010, Montréal, Canada.
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Savkiv, Volodymyr, Roman Mykhailyshyn, Vadim Piscio, Ihor Kozbur, Frantisek Duchon, and Lubos Chovanec. "Investigation of object manipulation positioning accuracy by bernoulli gripping devices in robotic cells." Scientific journal of the Ternopil national technical university 102, no. 2 (2021): 21–36. http://dx.doi.org/10.33108/visnyk_tntu2021.02.021.

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Ensuring the necessary accuracy of positioning the objects of manipulation of Bernoulli's grippers in robotic cells is an urgent task and can be achieved by choosing rational parameters of the gripping process. The article conducts experimental studies of the process of handling by Bernoulli grippers of objects of manipulation at different operating parameters and their weight. For this purpose, an experimental setup was developed, which consists of an industrial robot IRB 4600, an IRC5 controller, a Raspberry Pi microcontroller and two clock-type micrometers. The method of determining the total positioning error of the "robot-gripper-object" system is presented, which takes into account the positioning errors of the industrial robot, the errors of the gripping device and the errors of basing the object of manipulation relative to the axis of symmetry of the gripping device. The ABB IRB 1600 industrial robot was programmed in the ABB RobotStudio environment to cyclically simulate the handling operation and to determine the deviation of the position of the manipulation object after its gripping from different distances. The first cycle of automatic mode was used to calibrate the micrometer indicators, while gripping the object was carried out from a distance of 0.02 mm. For better reliability of research results, 20 measurement cycles were performed for each of the variable parameters. As a result, it was found that the maximum base error of objects does not exceed 0.4 mm. When capturing objects from a distance of 0.5…1 mm, the mean value of the base error will be 0.08…0.15 mm, with a standard deviation of 0.025…0.035 mm. The paper studies the effect of the displacement Δ of the center of mass of the gripped object relative to the axis of the Bernoulli gripper on the accuracy of the base of the objects. It is established that when the center of mass of the gripped objects is shifted relative to the Bernoulli gripper axis up to 20 mm, the maximum base error of the objects increases 2.2 times.
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Billatos, Samir B. "A novel approach to flexible robotic assembly systems." Robotica 13, no. 6 (November 1995): 583–89. http://dx.doi.org/10.1017/s026357470001866x.

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SummaryThis paper presents a novel approach to designing and manufacturing of a universal gripper to be used with industrial robots in flexible assembly systems. Important issues that impact greatly on the efficiency of the gripper are also discussed in this paper. Such issues include the degree of compliance allowed by the robotic wrist and the way these grippers are actuated. The gripper has been proven to be extremely flexible and low in cost.
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Torres, Rogério, and Nuno Ferreira. "Robotic Manipulation in the Ceramic Industry." Electronics 11, no. 24 (December 14, 2022): 4180. http://dx.doi.org/10.3390/electronics11244180.

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Robotic manipulation, an area inside the field of industrial automation and robotics, consists of using a robotic arm to guide and grasp a desired object through actuators such as a vacuum or fingers, among others. Some objects, such as fragile ceramic pieces, require special attention to the force and the gripping method exerted on them. For this purpose, two grippers were developed, where one of them is a rotary vacuum gripper and the other is an impact gripper with three fingers, each one equipped with a load sensor capable of evaluating the values of load exerted by the grip actuators onto the object to be manipulated. The vacuum gripper was developed for the purpose of glazing a coffee saucer and the gripper with three fingers was developed for the purpose of polishing a coffee cup. Being that the impact gripper with sensorial feedback reacts to the excess and lack of grip force exerted, both these grippers were developed with success, handling with ease the ceramic pieces proposed.
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Zbroja, Piotr, Ksawery Szykiedans, and Wojciech Credo. "Flexible grippers for industrial robots – comparison of features of low-cost 3D printed component." MATEC Web of Conferences 254 (2019): 02020. http://dx.doi.org/10.1051/matecconf/201925402020.

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The aim of presented work was to analyse the feasibility of using 3D-print technology in robotics based on the production of industrial robot flexible grippers. For selected geometry of gripper single finger available 3D printing techniques has been analysed. The study made by authors uses the following additive technologies and devices: SLS (Selective laser Sintering) and FDM (Fused deposition modelling). As a prior an analyses of capabilities of individual technologies were done by testing the quality of the 3D CAD model recreated on test print-outs. Based on the printed gripper, its functionality, and strength properties were examined. Strength of grapplers was tested with a use of an MTS test machine under repeating deflexion simulating standard operational cycle of a gripper. Test proved that at least few thousands of cycle are possible to be made by a 3D printed gripper. What interesting gripper made with use of the less advanced printer showed different wear behaviour than an one made on the more advanced. First one showed almost instantaneous start of slow and constant strength degradation while the second one proved to have a stable deflexional capability by almost twice an number of cycles. More isotropic structure of an SLS printed gripper caused the best results of all tested ones.
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Jitariu, Sebastian, and Ionel Staretu. "Gripper with Average Continuous Reconfigurability for Industrial Robots." Applied Mechanics and Materials 811 (November 2015): 279–83. http://dx.doi.org/10.4028/www.scientific.net/amm.811.279.

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Anthropomorphic grippers for robots are used increasingly in robotic applications for handling and assembly. Currently there are several versions of anthropomorphic grippers as projects, prototypes or commercial variants that due to high prices or even for very high ones, are not available for current applications. Among them, high functionality at a relatively low complexity can be noticed in the case of reconfigurable grippers with high reconfigurability, Barrett Hand type. In this context, it is justified finding alternative solutions at lower prices at a lower reconfigurability, with acceptable functionality for current robotic operations. The paper presents an original version of modular anthropomorphic gripper continuous average reconfigurability, with three fingers. There are mentioned, briefly, major structural, kinematic and static issues, a CAD model and CAD simulation for gripping several types of pieces. Furthermore, we intend to achieve a prototype and test it by mounting on an industrial robot.
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Dissertations / Theses on the topic "Industrial gripper"

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Östberg, Micael, and Mikael Norgren. "Intelligent Gripper." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-22862.

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The human hand is a great generic gripper as it can grasp objects of unknown shapes, weights and surfaces. Most robotic grippers in today's industry have to be custom made and tuned for each application by engineers, thus many man hours are required to get the desired behavior and repeatability. To be able to adapt some of the capabilities of the human hand into robust industrial robotic grippers would enhance their usability and ease the tuning by engineers once installed. This thesis discusses the development of a robust intelligent gripper for industrial use, based on piezo sensors which have the ability to both sense slippage and detect objects. First, an experimental sensor prototype was developed successfully using an amplification circuit and algorithms implemented in LabView. Secondly, a final prototype containing a signal board, an FPGA board, a simple gripper with linear units and more robust sensor modules where developed. The thesis further discusses which parts of the intelligent gripper that have been successfully implemented within the project time frame and which parts that needs to be further implemented, tested and improved.
Den mänskliga handen är en fantastisk universiell gripklo då den kan greppa objekt av okänd form, vikt och yta. De flesta gripklor i dagens industri måste vara specialgjorda och anpassas för varje applikation av ingenjörer och därmed behövs otaliga mantimmar för att få önskat beteende och repeterbarhet. Att kunna anpassa vissa av den mänskliga handens egenskaper till en robust industriell robotgripklo skulle utöka dess användarområde och lätta upp anpassningen för ingenjörer när den väl är installerad. Detta examensarbete diskuterar hur en robust intelligent gripklo har blivit utvecklat for industriellt bruk baserad på piezo sensorer som har förmågan att känna av glidning och initiell kontakt av objekt. Först, en experimentiell fungerande sensorprototyp utvecklades med hjälp av en förstärkningskrets och algoritmer implementerade i LabView. Därefter utvecklades en slutlig prototyp innehållandes ett signalkort, ett FPGA-kort, en enkel gripklo med linjärenheter och mer robusta sensorer. Examensarbetet tar vidare upp vilka delar som framgångsrikt blivit implementerade och vilka delar som behöver utvecklas ytterligare, testas och förbättras.
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Barsky, Michael F. "Robot gripper control system using PVDF piezoelectric sensors." Thesis, Virginia Polytechnic Institute and State University, 1986. http://hdl.handle.net/10919/77897.

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A novel robot gripper control system is presented which uses PVDF piezoelectric sensors to actively damp exerted force. By using a low-input-resistance amplifier to sense the current developed by the PVDF sensor, an output proportional to the rate of change of the force exerted by the gripper is obtained. The signals from the PVDF sensor and a strain gauge force sensor are arranged in a proportional and derivative (PD) control system for the control of force. The control system was tested on an instrumented Rhino XR-1 manipulator hand. The capabilities of the control system are analyzed analytically, and verified experimentally. The results for this particular gripper indicate that as much as 900% improvement in force step response rise time, and 300% reduction in overshoot are possible by inclusion of the PVDF sensor.
Master of Engineering
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Wang, Jianqiang. "Intelligent gripper design and application for automated part recognition and gripping." Thesis, Port Elizabeth Technikon, 2002. http://hdl.handle.net/10948/102.

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Intelligent gripping may be achieved through gripper design, automated part recognition, intelligent algorithm for control of the gripper, and on-line decision-making based on sensory data. A generic framework which integrates sensory data, part recognition, decision-making and gripper control to achieve intelligent gripping based on ABB industrial robot is constructed. The three-fingered gripper actuated by a linear servo actuator designed and developed in this project for precise speed and position control is capable of handling a large variety of objects. Generic algorithms for intelligent part recognition are developed. Edge vector representation is discussed. Object geometric features are extracted. Fuzzy logic is successfully utilized to enhance the intelligence of the system. The generic fuzzy logic algorithm, which may also find application in other fields, is presented. Model-based gripping planning algorithm which is capable of extracting object grasp features from its geometric features and reasoning out grasp model for objects with different geometry is proposed. Manipulator trajectory planning solves the problem of generating robot programs automatically. Object-oriented programming technique based on Visual C++ MFC is used to constitute the system software so as to ensure the compatibility, expandability and modular programming design. Hierarchical architecture for intelligent gripping is discussed, which partitions the robot’s functionalities into high-level (modeling, recognizing, planning and perception) layers, and low-level (sensing, interfacing and execute) layers. Individual system modules are integrated seamlessly to constitute the intelligent gripping system.
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Postma, Bradley Theodore, and b. postma@cullens com au. "Automated assembly of industrial transformer cores utilising dual cooperating mobile robots bearing a common electromagnetic gripper." RMIT University. Electrical Engineering, 2000. http://adt.lib.rmit.edu.au/adt/public/adt-VIT20091125.114646.

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Automation of the industrial transformer core assembly process is highly desirable. A survey undertaken by the author however, revealed that due to the high cost of existing fully automated systems, Australian manufacturers producing low to medium transformer volumes continue to maintain a manual construction approach. The conceptual design of a cost-effective automation system for core assembly from pre-cut lamination stacks was consequently undertaken. The major hurdle for automating the existing manual process was identified as the difficulty in reliably handling and accurately positioning the constituent core laminations, which number in their thousands, during transformer core construction. Technical evaluation of the proposed pick-and-place core assembly system, incorporating two mobile robots bearing a common gripper, is presented herein to address these requirements. A unique robotic gripper, having the capability to selectively pick a given number of steel laminations (typically two or three) concurrently from a stack, has the potential to significantly increase productivity. The only available avenue for picking multiple laminations was deemed to be a gripper based on magnetism. Closed form analytical and finite element models for an electromagnet-stack system were contrived and their force distributions obtained. The theoretical findings were validated by experiment using a specially constructed prototype. Critical parameters for reliably lifting the required number of laminations were identified and a full scale electromagnet, that overcame inherent suction forces present in the stack during picking, was subsequently developed. A mechanical docking arrangement is envisaged that will ensure precise lamination placement. Owing to the grippers unwieldy length however, conventional robots cannot be used for assembling larger cores. Two wheeled mobile robots (WMRs) compliantly coupled to either end of the gripper could be considered although a review of the current literature revealed the absence of a suitable controller. Dynamic modelling for a single WMR was therefore undertaken and later expanded upon for the dual WMR system conceived. Nonlinear adaptive controllers for both WMR systems were developed and subsequently investigated via simulation. Neglecting the systems dynamics resulted in analogous, simplified kinematic control schemes, that were verified experimentally using prototypes. Additional cooperative control laws ensuring the synchronisation of the two robots were also implemented on the prototype system.
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Керечан, Крістіан Михайлович, and Kristian Kerechan. "Автоматизація процесу складання деталей в робототехнічній комірці." Bachelor's thesis, Тернопільський національний технічний університет ім. І. Пулюя, Факультет прикладних інформаційних технологій та електроінженерії, Кафедра автоматизації технологічних процесів і виробництв, 2021. http://elartu.tntu.edu.ua/handle/lib/35356.

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Робота виконана на кафедрі автоматизації технологічних процесів і виробництв факультету прикладних інформаційних технологій та електроінженерії Тернопільського національного технічного університету імені Івана Пулюя Міністерства освіти і науки України. Захист відбудеться «17» червня 2021 р. о 9.00 год. на засіданні екзаменаційної комісії №21 у Тернопільському національному технічному університеті імені Івана Пулюя
У цій роботі представлено, як створювати, програмувати та моделювати робочі комірки та станції за допомогою RobotStudio, а також контролювати, встановлювати, конфігурувати та програмувати справжній контролер робота та робити збірку в Robotstudio за допомогою двох роботів та поворотного конвеєра. Деталі імпортовані з Solidworks. Oб'єктoм дocлідження є пpoцеc автоматизації складання деталей в робототехнічній комірці. Метa poбoти – є розробка та тестування програми автоматизації складання деталей в робототехнічній комірці.
This paper introduces how to create, program, and model workstations and stations using RobotStudio, as well as control, install, configure, and program a true robot controller and build in Robotstudio using two robots and a rotary conveyor. Parts imported from Solidworks. The object of research is the process of automation of assembly of parts in a robotic cell. The purpose of the work is to develop and test a program for automation of assembly of parts in a robotic cell.
ВCТYП 8 1 AНAЛІТИЧНA ЧACТИНA 9 1.1 Гнучкі робототехнічні системи та їх застосування 9 1.2 Роботизований процес складання 21 2 ПРОЕКТНА ЧACТИНA 25 2.1 Постановка завдання 25 2.2 Опис компонентів 26 2.2.1 Редактор RAPID 26 2.2.2 Редагування точок робота 27 2.2.3 Переглядач вводу / виводу 27 2.2.4 Конструктор системи 27 2.2.5 Менеджер з встановлення 27 2.2.6 Редактор конфігурацій 27 2.2.7 Резервне копіювання і відновлення 28 2.2.8 Розумні компоненти 28 2.2.9 Віртуальний час 28 2.2.10 Моделіст механізму 28 2.2.11 Швидка синхронізація 28 2.2.12 Multimove 29 2.2.13 Відстеження конвеєра 29 2.2.14 Точки та траєкторії 29 2.2.15 Точки 29 2.2.16 Траєкторія 30 2.2.17 Параметри переміщення 30 2.2.18 Інструкції дії 30 2.3 Створення розумного об’єкту в програмному середовищі 30 2.4 Розробка програми складання 43 3 СПЕЦІАЛЬНА ЧACТИНA 50 3.1 Робота в RobotStudio 50 3.1.1 Налагоджування системи 52 4 БЕЗПЕКА ЖИТТЄДІЯЛЬНОСТІ, ОСНОВИ ОХОРОНИ ПРАЦІ 56 4.1 Знaчення oхopoни пpaці в зaбезпеченні здopoвих yмoв пpaці 56 4.2 Oхopoнa пpaці як cиcтемa зaхoдів щoдo гapмoнізaції викopиcтaння кoмп’ютеpних технoлoгій 56 4.3 Aнaліз пoтенційних небезпек тa шкідливocтей виpoбничoгo cеpедoвищa 58 4.4 Електpoмaгнітний імпyльc ядеpнoгo вибyхy і зaхиcт від ньoгo paдіoелектpoнних зacoбів 63 4.5 Зaбезпечення нopмaльних yмoв пpaці 65 4.5.1 Вибіp пpиміщення 65 4.5.2 Зaбезпечення нopмaльних caнітapнo- гігієнічних yмoв нa poбoчoмy міcці 66 ВИCНOВКИ 69 ПЕPЕЛІК ПOCИЛAНЬ 70
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Chromčík, Adam. "Návrh virtuálního modelu robotického pracoviště." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2018. http://www.nusl.cz/ntk/nusl-382284.

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This diploma thesis deals with the design of a virtual model of a robotic workplace. Robot and robotic workplaces are researched. Further, the design and safety phases of these workplaces are discussed. A conceptual model of the robotic workplace with robot IRB 4400/60 is designed, which is placed in the machine laboratory C1 of the Institute of Production Machines, Systems and Robotics at the Faculty of Mechanical Engineering of the Brno University of Technology. The virtual model is created in Process Simulate 13.0. It is designed to manipulate the dice, weld and operate the vertical machine tool.
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Kolář, Bronislav. "Obrábění prostorových objektů pomocí průmyslového robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2013. http://www.nusl.cz/ntk/nusl-230543.

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This diploma thesis deals with the design of robot machining of three-dimensional objects. Used method is Part to tool, in which robot holds the part in its gripper and with stacionary clamped mill, machines the part. Overally three parts for machining are designed, everyone of them shows the different style of machining. Every machining operations are described in details. For their creation was used program Mastercam. Furthermore is described transfer of the data for industrial robot using program Robotmaster and recomanded algorithm for creation of similar tasks. The design of simplified workplace for demonstrative show of the milling of all the parts is also solved.
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Green, D. "Investigations into intelligent tactile grippers." Thesis, Liverpool John Moores University, 1985. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.355310.

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RAHMAN, NAHIAN. "Towards Developing Gripper to obtain Dexterous Manipulation." Doctoral thesis, Università degli studi di Genova, 2018. http://hdl.handle.net/11567/929970.

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Artificial hands or grippers are essential elements in many robotic systems, such as, humanoid, industry, social robot, space robot, mobile robot, surgery and so on. As humans, we use our hands in different ways and can perform various maneuvers such as writing, altering posture of an object in-hand without having difficulties. Most of our daily activities are dependent on the prehensile and non-prehensile capabilities of our hand. Therefore, the human hand is the central motivation of grasping and manipulation, and has been explicitly studied from many perspectives such as, from the design of complex actuation, synergy, use of soft material, sensors, etc; however to obtain the adaptability to a plurality of objects along with the capabilities of in-hand manipulation of our hand in a grasping device is not easy, and not fully evaluated by any developed gripper. Industrial researchers primarily use rigid materials and heavy actuators in the design for repeatability, reliability to meet dexterity, precision, time requirements where the required flexibility to manipulate object in-hand is typically absent. On the other hand, anthropomorphic hands are generally developed by soft materials. However they are not deployed for manipulation mainly due to the presence of numerous sensors and consequent control complexity of under-actuated mechanisms that significantly reduce speed and time requirements of industrial demand. Hence, developing artificial hands or grippers with prehensile capabilities and dexterity similar to human like hands is challenging, and it urges combined contributions from multiple disciplines such as, kinematics, dynamics, control, machine learning and so on. Therefore, capabilities of artificial hands in general have been constrained to some specific tasks according to their target applications, such as grasping (in biomimetic hands) or speed/precision in a pick and place (in industrial grippers). Robotic grippers developed during last decades are mostly aimed to solve grasping complexities of several objects as their primary objective. However, due to the increasing demands of industries, many issues are rising and remain unsolved such as in-hand manipulation and placing object with appropriate posture. Operations like twisting, altering orientation of object within-hand, require significant dexterity of the gripper that must be achieved from a compact mechanical design at the first place. Along with manipulation, speed is also required in many robotic applications. Therefore, for the available speed and design simplicity, nonprehensile or dynamic manipulation is widely exploited. The nonprehensile approach however, does not focus on stable grasping in general. Also, nonprehensile or dynamic manipulation often exceeds robot’s kinematic workspace, which additionally urges installation of high speed feedback and robust control. Hence, these approaches are inapplicable especially when, the requirements are grasp oriented such as, precise posture change of a payload in-hand, placing payload afterward according to a strict final configuration. Also, addressing critical payload such as egg, contacts (between gripper and egg) cannot be broken completely during manipulation. Moreover, theoretical analysis, such as contact kinematics, grasp stability cannot predict the nonholonomic behaviors, and therefore, uncertainties are always present to restrict a maneuver, even though the gripper is capable of doing the task. From a technical point of view, in-hand manipulation or within-hand dexterity of a gripper significantly isolates grasping and manipulation skills from the dependencies on contact type, a priory knowledge of object model, configurations such as initial or final postures and also additional environmental constraints like disturbance, that may causes breaking of contacts between object and finger. Hence, the property (in-hand manipulation) is important for a gripper in order to obtain human hand skill. In this research, these problems (to obtain speed, flexibility to a plurality of grasps, within-hand dexterity in a single gripper) have been tackled in a novel way. A gripper platform named Dexclar (DEXterous reConfigurable moduLAR) has been developed in order to study in-hand manipulation, and a generic spherical payload has been considered at the first place. Dexclar is mechanism-centric and it exploits modularity and reconfigurability to the aim of achieving within-hand dexterity rather than utilizing soft materials. And hence, precision, speed are also achievable from the platform. The platform can perform several grasps (pinching, form closure, force closure) and address a very important issue of releasing payload with final posture/ configuration after manipulation. By exploiting 16 degrees of freedom (DoF), Dexclar is capable to provide 6 DoF motions to a generic spherical or ellipsoidal payload. And since a mechanism is reliable, repeatable once it has been properly synthesized, precision and speed are also obtainable from them. Hence Dexclar is an ideal starting point to study within-hand dexterity from kinematic point of view. As the final aim is to develop specific grippers (having the above capabilities) by exploiting Dexclar, a highly dexterous but simply constructed reconfigurable platform named VARO-fi (VARiable Orientable fingers with translation) is proposed, which can be used as an industrial end-effector, as well as an alternative of bio-inspired gripper in many robotic applications. The robust four fingered VARO-fi addresses grasp, in-hand manipulation and release (payload with desired configuration) of plurality of payloads, as demonstrated in this thesis. Last but not the least, several tools and end-effectors have been constructed to study prehensile and non-prehensile manipulation, thanks to Bayer Robotic challenge 2017, where the feasibility and their potentiality to use them in an industrial environment have been validated. The above mentioned research will enhance a new dimension for designing grippers with the properties of dexterity and flexibility at the same time, without explicit theoretical analysis, algorithms, as those are difficult to implement and sometime not feasible for real systems
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Grasa, Soler Pedro Luis. "La préhension de pièces mécaniques : intégration dans un îlot automatisé de production." Nancy 1, 1987. http://www.theses.fr/1987NAN10180.

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Books on the topic "Industrial gripper"

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Wolf, Andreas. Grippers in motion: The fascination of automated handling tasks. Berlin: Springer, 2005.

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Andreas, Wolf. Grippers in motion: The fascination of automated handling tasks. Berlin: Springer, 2005.

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Canada, Canada Health, and Canada Santé Canada, eds. Access to the seasonal flu vaccine in Canada: How the flu shot makes its way from the laboratory to the doctorgass office = Accès au vaccin contre la grippe saisonnière au Canada : comment le vaccin contre la grippe se rend du laboratoire jusqu'au cabinet médical. Ottawa, Ont: Health Canada = Santé Canada, 2007.

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Canada. Parliament. House of Commons. Standing Committee on Agriculture and Agri-Food. From a management crisis, to becoming better crisis managers: The 2004 avian influenza outbreak in British Columbia : report of the Standing Committee on Agriculture and Agri-Food = Profiter d'une crise de gestion pour devenir de meilleurs gestionnaires de crise : l'épizootie de grippe aviaire de 2004 en Colombie-Britannique : rapport du comité permanent de l'agriculture et de l'agroalimentaire. [Ottawa, Ont.]: Standing Committee on Agriculture and Agri-Food = Comité permanent de l'agriculture et de l'agroalimentaire, 2005.

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Robot Grippers. Springer-Verlag Berlin and Heidelberg GmbH & Co. KG, 1986.

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Grippers in Motion: The Fascination of Automated Handling Tasks. Hanser Publications, 2018.

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Steinmann, Ralf, Henrik Schunk, and Andreas Wolf. Grippers in Motion: The Fascination of Automated Handling Tasks. Springer, 2006.

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(Editor), Wilfred B. Heginbotham, ed. Robot Grippers (International Trends in Manufacturing Technology). Springer, 1986.

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LUZZI JÚNIOR, M. A. de. Os acordos de compensação tecnológica, industrial e comercial como instrumentos de políticas públicas: o projeto ''gripen''. Dialética, 2021. http://dx.doi.org/10.48021/978-65-5956-527-6.

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Book chapters on the topic "Industrial gripper"

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Quaglia, Giuseppe, and Luca Girolamo Butera. "Experimental Results for QuBu Gripper: A 3-Jaw Electric Gripper." In Advances in Service and Industrial Robotics, 621–29. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-61276-8_65.

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Schmidbauer, Christina, Hans Küffner-McCauley, Sebastian Schlund, Marcus Ophoven, and Christian Clemenz. "Detachable, Low-Cost Tool Holder for Grippers in Human-Robot Interaction." In Lecture Notes in Mechanical Engineering, 170–78. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-18326-3_17.

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AbstractTo hand over more than just pick & place tasks to an industrial collaborative robotic arm with a two-jaw gripper, the gripper must first be removed, and a new tool mounted. This tool change requires either human assistance or an expensive tool changer. The tools applied to the end-effector are often highly expensive and software system interfaces between different tools and robots are seldom available. Therefore, a holder was developed that allows the robot to pick up and operate a tool, such as an electric screwdriver, without having to demount the two-jaw gripper. Instead, the gripper’s functionality is used to activate and deactivate the tool fixed to the holder. This paper presents the state-of-the-art of the underlying problem as well as the development process including simulations, the patented design, and the low-cost production of the tool holder. This detachable, low-cost tool holder enables a flexibilization of human-robot processes in manufacturing.
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Xu, Qingsong, and Kok Kiong Tan. "Position/Force Switching Control of a Miniature Gripper." In Advances in Industrial Control, 233–53. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-21623-2_11.

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Veroli, Andrea, Alessio Buzzin, Rocco Crescenzi, Fabrizio Frezza, Giampiero de Cesare, Vito D’Andrea, Francesco Mura, Matteo Verotti, Alden Dochshanov, and Nicola Pio Belfiore. "Development of a NEMS-Technology Based Nano Gripper." In Advances in Service and Industrial Robotics, 601–11. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-61276-8_63.

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Vogt, Ludwig, Yannick Zimmermann, and Johannes Schilp. "Computing Gripping Points in 2D Parallel Surfaces Via Polygon Clipping." In Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021, 101–12. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-74032-0_9.

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AbstractTo generate suitable grasping positions between tessellated handling objects and specific planar grippers, we propose a 2D analytical approach which uses a polygon clipping algorithm to generate detailed information about the intersection between both objects. With the generated knowledge about the intersection we check whether its shape fits to the set criteria of the operator and represents a valid grasping position. Before the polygon clipping algorithm is applied, a preprocessing step is performed, where appropriate surfaces from the handling object and the gripper are extracted. After rotating all surfaces into a common plane, potential clipping positions are detected and the clipping is performed to get an accurate intersection detection. The validation shows comparable running times to a OBBTree algorithm (0.1 ms per grasping position) while increasing the stability of the results from 30 to 100% for the evaluated test objects.
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Rybak, Larisa, Elena Gaponenko, and Dmitry Malyshev. "Approximation of the Workspace of a Cable-Driven Parallel Robot with a Movable Gripper." In Industrial and Robotic Systems, 36–43. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-45402-9_5.

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Koustoumpardis, Panagiotis Ν., Sotiris Smyrnis, and Nikos Α. Aspragathos. "A 3-Finger Robotic Gripper for Grasping Fabrics Based on Cams-Followers Mechanism." In Advances in Service and Industrial Robotics, 612–20. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-61276-8_64.

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Sugavaneswaran, M., N. Rajesh, and N. Sathishkumar. "Design of Robot Gripper with Topology Optimization and Its Fabrication Using Additive Manufacturing." In Lecture Notes on Multidisciplinary Industrial Engineering, 75–85. Singapore: Springer Singapore, 2019. http://dx.doi.org/10.1007/978-981-32-9433-2_6.

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Lieret, Markus, Benedikt Kreis, Christian Hofmann, Maximilian Zwingel, and Jörg Franke. "Aerial Grasping and Transport Using an Unmanned Aircraft (UA) Equipped with an Industrial Suction Gripper." In Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021, 89–99. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-74032-0_8.

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AbstractDuetotheavailabilityof highly efficient unmanned aircraft (UA) and the advancement of the necessary technologies, the use of UA for object manipulation and cargo transport is becoming a more and more relevant research area. A reliable identification and localization of cargo and interaction objects as well as maintaining the required flight precision are essential to guarantee a successful object handling. Within this paper we demonstrate the successful application of an autonomous UA equipped with a lightweight suction gripper for object interaction. We discuss the approach used for precise localization as well as the identification and pose estimation of individual gripping objects. Concluding, the overall system performance is evaluated within an industrial-oriented use case.
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Mishra, Atul, I. A. Sainul, Sudipta Bhuyan, Sankha Deb, Debashis Sen, and A. K. Deb. "Development of a Flexible Assembly System Using Industrial Robot with Machine Vision Guidance and Dexterous Multi-finger Gripper." In Lecture Notes on Multidisciplinary Industrial Engineering, 31–71. Singapore: Springer Singapore, 2018. http://dx.doi.org/10.1007/978-981-10-8767-7_2.

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Conference papers on the topic "Industrial gripper"

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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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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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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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Abbas, Ayman, and Anwar Sahbel. "Development of a Soft Robotic Gripper for Carpet Handling." In ASME 2022 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/imece2022-95931.

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Abstract The use of soft robotic grippers is an alternative to conventional rigid body grippers in industrial applications specifically in the handling of carpets. This paper presents, a novel design of a 3D soft robotic gripper based on a simulation model and experimental prototype that can be used for carpet handling applications. In addition, the fabrication method of the pneumatic soft robotic gripper is introduced. The pneu-net actuator geometrical parameters are optimized such as the thickness of the chamber walls and the internal structure of the chambers resulting in significantly improved pressure handling capabilities. The simple pneu-net and the modified actuator are tested at two different pressure 55 and 110 kPa, to check the range of motion. A single actuator is calculated to lift a maximum of five kilograms, with several actuators included in the gripper the weight carrying capabilities reached ten kilograms. The geometry was optimized to maximize weight carrying capabilities by increasing the amount of pressure the actuator can withstand. A finite element analysis using ABAQUS software is carried out to evaluate the stresses acting upon the soft gripper.
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Guerra-Zubiaga, David, Logan Block, Adam Ricketts, Jacob Faile, and Charlie Dickson. "A New Approach to Develop an Intelligent Robotic Gripper Using Virtual Tools Implementing IIoT and ML Technologies." In ASME 2021 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2021. http://dx.doi.org/10.1115/imece2021-69993.

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Abstract Industrial manufacturing companies face the challenge of adapting to increasingly complex demands, especially with the influx of online ordering. One case of this is in the underperformance of end-effectors, limiting the adaptability of robotic arms in manufacturing functionality. To create proper gripper adaptability, intelligent gripper design is required to improve the sensibility and processing capability of the end-effectors. This will allow for grippers to perform effective decision-making and optimize production. This paper suggests a methodology that includes a step-by-step design process for an intelligent gripper and discusses how to develop intelligence utilizing key components of Industry 4.0 (Internet of Things, machine learning, and cloud manufacturing). This method was analyzed in a case study of a low-level intelligent vacuum gripper design. The methodology will be beneficial to intelligent gripper design from multiple levels of intelligence, creating a guide for engineers to follow to effectively design intelligent gripper solutions for their systems.
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Rahman, Nahian, Carlo Canali, Darwin G. Caldwell, and Ferdinando Cannella. "Dexterous Gripper Synthesis From Modular Finger Approach." In ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/detc2017-67708.

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Dexterous gripper requirements, such as in-hand manipulation is a capability on which human hands are unique at; numerous number of sensors, degree of freedom, adaptability to deal with plurality of object of our hand motivate the researchers to replicate these abilities in robotic grippers. Developments of gripper or grasping devices have been addressed from many perspectives: the use of materials in the gripper synthesis, such as rigid or flexible, the approach of control, use of under-actuated mechanism and so on. Mathematical formulation of grasp modeling, manipulation are also addressed; however, due to the presence non-holonomic motion, it is difficult to replicate the behaviors (achieved in model) in a physical gripper. Also, achieving skills similar to human hand urge to use soft or non rigid material in the gripper design, which is contrary to speed and precision requirements in an industrial gripper. In this dilemma, this paper addresses the problem by developing modular finger approach. The modular finger is built by two well known mechanisms, and exploiting such modular finger in different numbers in a gripper arrangement can solve many rising issues of manipulation.
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Rahman, Nahian, Luca Carbonari, Mariapaola D’Imperio, Carlo Canali, Darwin G. Caldwell, and Ferdinando Cannella. "A Novel Reconfigurable Modular Gripper for In-Hand Object Manipulation and Release With Appropriate Posture." In ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/detc2016-59837.

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In-hand manipulation is a frequently demanded task which requires a significant dexterity from grippers. Operations such as object twisting, re-grasping and re-positioning with correct posture after manipulation are the major industrial challenges. Such requiring also determine design complexity of grippers. This paper proposes a new modular two DOF finger which is capable to do manipulation such as twist object about two independent axes when used in modular assembled configuration. Multiple identical fingers of such type can be used to build the gripper whose primary purposes are solving manipulation and after manipulation requirements such as regrasp and release object with appropriate posture. The fingers are implemented in the gripper by means of a properly conceived mechanism to ensure the mobility needed for grasping. In this research, the manipulation capabilities of the gripper developed by such identical fingers is investigated by the means of simulation in a multibody simulated environment. Moreover, a prototype of one finger has been built for preliminary inspection of the modular entity which represents the constructive base of the gripper concept object of this study.
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Bai, Guochao, Xianwen Kong, and James Millar Ritchie. "Kinematic Analysis and Dimensional Synthesis of a Meso-Gripper." In ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/detc2016-59526.

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In recent years, applications in industrial assemblies within a size range from 0.5mm to 100mm are increasing due to the large demands for digital multimedia products. Research on grippers or robotic hands within the mesoscopic scale of this range has not been well explored. This paper proposes a mesoscopic scale gripper (meso-gripper) which has two modes: passive adjusting mode and an angled precision gripping mode. The gripper adjusts its shape automatically according to the appropriate mode. This form of gripping and the associated mechanism are novel in their implementation and operation. The meso-gripper which has metamorphic characteristics is generated by integrating a remote center of motion (RCM) mechanism with a cross four-bar (CFB) linkage. The dimensional synthesis of the gripper is outlined for a specified task-based gripping followed by the analysis of the synthesizing mechanism. A differential mechanism is adopted to increase the flexibility of the meso-gripper. Prototype is fabricated and tested using 3D printing technology to verify the feasibility of the design.
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Ivanov, Vladislav, Angel Aleksandrov, Mohamad Bdiwi, Aleksander Popov, Aquib Rashid, Zhanna Pershina, Aleksey Kolker, and Lubomir Dimitrov. "Bin Picking Pneumatic-Mechanical Gripper for Industrial Manipulators." In 2021 IV International Conference on High Technology for Sustainable Development (HiTech). IEEE, 2021. http://dx.doi.org/10.1109/hitech53072.2021.9614215.

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Rachkov, M., and V. Bebenin. "Automatic Two-Stage Vacuum Gripper System." In 2018 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM). IEEE, 2018. http://dx.doi.org/10.1109/icieam.2018.8728733.

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