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1
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.
Повний текст джерелаАнотація:
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.
2
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.
Повний текст джерелаАнотація:
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.
3
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.
Повний текст джерелаАнотація:
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.
4
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.
Повний текст джерелаАнотація:
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.
5
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.
Повний текст джерелаАнотація:
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.
6
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.
Повний текст джерелаАнотація:
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.
7
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.
Повний текст джерелаАнотація:
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.
Повний текст джерелаАнотація:
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.
9
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.
Повний текст джерелаАнотація:
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.
10
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.
Повний текст джерелаАнотація:
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.
11
Gabriel, Felix, Markus Fahning, Julia Meiners, Franz Dietrich, and Klaus Dröder. "Modeling of vacuum grippers for the design of energy efficient vacuum-based handling processes." Production Engineering 14, no. 5-6 (October 24, 2020): 545–54. http://dx.doi.org/10.1007/s11740-020-00990-9.
Повний текст джерелаАнотація:
AbstractVacuum-based handling is widely used in industrial production systems, particularly for hand-ling of sheet metal parts. The process design for such handling tasks is mostly based on approximate calculations and best-practice experience. Due to the lack of detailed knowledge about the parameters that significantly influence the seal and force transmission behavior of vacuum grippers, these uncertainties are encountered by oversizing the gripping system by a defined safety margin. A model-based approach offers the potential to overcome this limitation and to dimension the gripping system based on a more exact prediction of the expected maximum loads and the resulting gripper deformation. In this work, we introduce an experiment-based modeling method that considers the dynamic deformation behavior of vacuum grippers in interaction with the specific gripper-object combination. In addition, we demonstrate that for these specific gripper-object combinations the gripper deformation is reversible up to a certain limit. This motivates to deliberately allow for a gripper deformation within this stability range. Finally, we demonstrate the validity of the proposed modeling method and give an outlook on how this method can be implemented for robot trajectory optimization and, based on that, enable an increase of the energy efficiency of vacuum-based handling of up to 85%.
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Mahanta, Golak Bihari, Amruta Rout, Deepak BBVL, and Bibhuti Bhusan Biswal. "Application of Meta-Heuristic Optimization Techniques for Design Optimization of a Robotic Gripper." International Journal of Applied Metaheuristic Computing 10, no. 3 (July 2019): 107–33. http://dx.doi.org/10.4018/ijamc.2019070106.
Повний текст джерелаАнотація:
Robotic grippers play a key player in the industrial robotics application such as pick and place, and assembly. In this article, geometric modeling of a robotic gripper is proposed and a plan is outlined to obtain optimized design parameters of the robotic gripper using various meta-heuristics techniques. The proposed system was solved in two-step methodology as geometric modeling followed by the formulation of objective functions. The developed two objective functions of the robotic gripper are complex and act as the multi-objective constraint optimization problem. Seven decision variables are chosen to develop the geometric model, and the proposed objective function for the robotic gripper is solved using different metaheuristic techniques such as ABC, FA, TLBO, ACO, and PSO algorithm. A statistical study conducted considering the 100 independent run for all the algorithms.
13
Ali, H., M. I. Zainur, M. Elshaikh, and AH Mohd Aman. "Development of Vision Based Smart Gripper for Material Handling Using Internet of Things." Journal of Physics: Conference Series 2312, no. 1 (August 1, 2022): 012040. http://dx.doi.org/10.1088/1742-6596/2312/1/012040.
Повний текст джерелаАнотація:
Abstract Robotic grippers have becoming an emerging trend due to their boundless applications in industrial automation. Nowadays, the deployment of vision based smart gripper for material handling in industrial applications remains challenging and ongoing research. As the Internet of Things (IoT) becomes more commercialized, the various concept of IoT have been integrated with the gripper due to efficient usage. Therefore, this project proposes the development of vision-based sensor of smart gripper for material handling in industrial applications that integrates with the IoT. The rationale of integrating IoT to vision based smart gripper is that it allows authenticated users to log in from any device, anywhere, and view video or images from vision based smart gripper in real-time for critical material handling. This system incorporates a vision sensor camera that acts as an “eye” to automatically detect and recognize the object with different weights and shapes and send the information to the robot for the next task. This smart gripper adopts a force sensor mounted into the fingertip to control the force applied when working with a wide range of objects with different weights. As for the electronic system, power module, communication and control module, sensor and actuator as well as user interface module have been adopted and integrated into the system. In the software development system, user interface configuration was developed through mobile application in which it communicates with Raspberry Pi B+ camera to serve as IoT platform. A series of experiments shows that the vision based gripper using IoT able to detect and recognize the objects and then send the information/command directly to the robot to execute grasping and lifting phase of the object to the desired location that has been assigned.
14
Simionescu, Ion, and Liviu Ciupitu. "Optimum Design of Multi-Links Finger Grippers." Advanced Materials Research 463-464 (February 2012): 1281–84. http://dx.doi.org/10.4028/www.scientific.net/amr.463-464.1281.
Повний текст джерелаАнотація:
The grippers for industrial robots with two or more DOF and a single driving motor are used to grasp the work pieces with poor stiffness in terms of low positioning accuracy. These grippers have a simple structure and are proper and suitable to blanks or semi-finished work pieces, with major dimensional deviations, which are handled between various tasks from manufacturing process. The geometrical symmetry of the system made by fingers and work piece is got by a suitable distribution of the force. This distribution is realized by an adequate design of the gripper fingers. In present paper some considerations concerning the optimum synthesis of the gripper mechanism with two multi-links fingers are shown.
15
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.
Повний текст джерелаАнотація:
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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Chen, Fei, Luca Carbonari, Carlo Canali, Mariapaola D'Imperio, and Ferdinando Cannella. "Design of a novel dexterous robotic gripper for in-hand twisting and positioning within assembly automation." Assembly Automation 35, no. 3 (August 3, 2015): 259–68. http://dx.doi.org/10.1108/aa-05-2015-046.
Повний текст джерелаАнотація:
Purpose – This paper aims to design a novel jaw gripper with human-sized anthropomorphic features to be suitable for precise in-hand posture transitions, such as twisting and re-positioning. The growing demand from traditional high-mix low-volume and new massive customized manufacturing industry requires the robot with configurability and flexibility. In the electronic manufacturing industry particularly, the design of the robotic hand with sufficient dexterity and configuration is important for the robot to accomplish the assembly task reliably and robustly. It is important for the robot to be able to grasp and manipulate a large number of assembly parts or tools. Design/methodology/approach – In this research, a novel jaw-like gripper with human-sized anthropomorphic features is designed for online in-hand precise positioning and twisting. It retains the simplicity feature of traditional industrial grippers and dexterity features of dexterous robotic hands. Findings – The gripper is able to apply suitable gripping force on assembly parts and performs reliable twisting movement within limited time to meet the industrial requirements. Manipulating several cylindrical assembly parts by robot, as an experimental case in this paper, is studied to evaluate its performance. The effectiveness of proposed gripper design and mechanical analysis is proved by the simulation and experimental results. Originality/value – The main originality of this research is that a novel jaw gripper with human-sized anthropomorphic features is designed to be suitable for precise in-hand posture transitions, such as twisting and re-positioning. With this gripper, the robotic system will be sufficiently flexible to deal with various assembly tasks.
17
Miron, Geneviève, Benjamin Bédard, and Jean-Sébastien Plante. "Sleeved Bending Actuators for Soft Grippers: A Durable Solution for High Force-to-Weight Applications." Actuators 7, no. 3 (July 17, 2018): 40. http://dx.doi.org/10.3390/act7030040.
Повний текст джерелаАнотація:
Soft grippers are known for their ability to interact with objects that are fragile, soft or of an unknown shape, as well as humans in collaborative robotics applications. However, state-of-the-art soft grippers lack either payload capacity or durability, which limits their use in industrial applications. In fact, high force density pneumatic soft grippers require high strain and operating pressure, both of which impair their durability. This work presents a new sleeved bending actuator for soft grippers that is capable of high force density and durability. The proposed actuator is based on design principles previously proven to improve the life of pneumatic artificial muscles, where a sleeve provides a uniform reinforcement that reduces local stresses and strains in the inflated membrane. The sleeved bending actuator features a silicone membrane and an external two-material sleeve that can support high pressures while providing a flexible grip. The proposed sleeved bending actuators are validated through two grippers, sized according to foreseen soft gripper applications: A small gripper for drone perching and lightweight food manipulation, and a larger one for the manipulation of heavy material (>5 kg) of various weights and sizes. Performance assessment shows that these grippers have payloads up to 5.2 kg and 20 kg, respectively. Durability testing of the grippers demonstrates that the grippers have an expected lifetime ranging from 263,000 cycles to more than 700,000 cycles. The grippers are tested in various settings, including the integration of a gripper into a Phantom 2 quadcopter, a perching demonstration, as well as the gripping of light and heavy food items. Experiments show that sleeved bending actuators constitute a promising avenue for durable and strong soft grippers.
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Bencak, Primož, Darko Hercog, and Tone Lerher. "Simulation Model for Robotic Pick-Point Evaluation for 2-F Robotic Gripper." Applied Sciences 13, no. 4 (February 17, 2023): 2599. http://dx.doi.org/10.3390/app13042599.
Повний текст джерелаАнотація:
Robotic bin-picking performance has been gaining attention in recent years with the development of increasingly advanced camera and machine vision systems, collaborative and industrial robots, and sophisticated robotic grippers. In the random bin-picking process, the wide variety of objects in terms of shape, weight, and surface require complex solutions for the objects to be reliably picked. The challenging part of robotic bin-picking is to determine object pick-points correctly. This paper presents a simulation model based on ADAMS/MATLAB cosimulation for robotic pick-point evaluation for a 2-F robotic gripper. It consists of a mechanical model constructed in ADAMS/View, MATLAB/Simulink force controller, several support functions, and the graphical user interface developed in MATLAB/App Designer. Its functionality can serve three different applications, such as: (1) determining the optimal pick-points of the object due to object complexity, (2) selecting the most appropriate robotic gripper, and (3) improving the existing configuration of the robotic gripper (finger width, depth, shape, stroke width, etc.). Additionally, based on this analysis, new variants of robotic grippers can be proposed. The simulation model has been verified on a selected object on a sample 2-F parallel robotic gripper, showing promising results, where up to 75% of pick-points were correctly determined in the initial testing phase.
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Kang, Long, Jong-Tae Seo, Sang-Hwa Kim, Wan-Ju Kim, and Byung-Ju Yi. "Design and Implementation of a Multi-Function Gripper for Grasping General Objects." Applied Sciences 9, no. 24 (December 4, 2019): 5266. http://dx.doi.org/10.3390/app9245266.
Повний текст джерелаАнотація:
The development of a reliable pick-and-place system for industrial robotics is facing an urgent demand because many manual-labor works, such as piece-picking in warehouses and fulfillment centers tend toward automation. This paper presents an integrated gripper that combines a linkage-driven underactuated gripper with a suction gripping system for picking up a variety of objects in different working environments. The underactuated gripper consists of two fingers, and each finger has three degrees of freedom that are obtained by stacking one five-bar mechanism over one double parallelogram. Furthermore, each finger is actuated by two motors, both of which can be installed at the base owing to the special architecture of the proposed robotic finger. A suction cup is used to grasp objects in narrow spaces and cluttered environments. The combination of the suction and traditional linkage-driven grippers allows stable and reliable grasping under different working environments. Finally, practical experiments using a wide range of objects and under different grasping scenarios are performed to demonstrate the grasping capability of the integrated gripper.
20
Erdemir, Gökhan. "Force transmission analysis of surface coating materials for multi-fingered robotic grippers." PeerJ Computer Science 7 (March 18, 2021): e401. http://dx.doi.org/10.7717/peerj-cs.401.
Повний текст джерелаАнотація:
Robotic systems are generally used for grasping, carrying, holding, and many similar operations, typically in industrial applications. One of the most important components of robotic systems is robot grippers for the aforementioned operations, which are not only mission-critical but also represent a significant operational cost due to the time and expense associated with replacement. Grasping operations require sensitive and dexterous manipulation ability. As a consequence, tactile materials and sensors are an essential element in effective robot grippers; however, to date, little effort has been invested in the optimization of these systems. This study has set out to develop inexpensive, easily replaced pads, testing two different chemical compositions that are used to produce a tactile material for robot grippers, with the objective of generating cost, time, and environmental savings. Each tactile material produced has its specific individual dimension and weight. First, each of the materials under construction was tested under different constant pressures, and its characteristics were analyzed. Second, each tactile material was mounted on a two-fingered robot gripper and its characteristics. Material characteristics were tested and analyzed as regards their ability to grasp different sizes and types of objects using the two-fingered robot gripper. Based on the analysis of the results the most sensitive and cost-effective material for industrial type multi-fingered grippers was identified.
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Vagaš, Marek, and Jozef Varga. "Design of Modular Gripper for Industrial Robot." Applied Mechanics and Materials 436 (October 2013): 351–57. http://dx.doi.org/10.4028/www.scientific.net/amm.436.351.
Повний текст джерелаАнотація:
The article discusses the design of modular gripper for industrial robot based on the modularity. This modularity includes the variable layout of fingers into three positions for the specified grip. It also consists of the specification of objects manipulation, their dimensions and weights with this type of gripper. The proposal is based on the biomechanical principle of the human hand. According to the analysis of human hand, there is a possibility to categorize every type of grip. The concept of gripper will introduce its own possibilities, functionality and fulfillment of required grip tasks. Design is based also on limited requirements, which are determined by the envelope of flange of industrial robot, application and others factors.
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Tao Zhang, Mike, and Ken Goldberg. "A Computer-Aided Design Tool in Java for Planar Gripper Design." Journal of Computing and Information Science in Engineering 4, no. 1 (March 1, 2004): 43–48. http://dx.doi.org/10.1115/1.1640655.
Повний текст джерелаАнотація:
We describe an Internet-based CAD tool that automatically designs gripper jaws that will rotate a given rigid convex polygonal part from a selected stable resting orientation to a desired final orientation to facilitate insertion or assembly. In this paper we describe the CAD algorithm, its Java implementation, and improvements that relax input specifications and improve computational efficiency. We illustrate with physical experiments using a machined aluminum part and the resulting gripper as designed by the CAD tool. We also consider cases where a solution may not exist and derive a class of triangular parts that cannot be rotated with the planar grippers. The CAD tool, implemented as a Java applet, is available online at www.ieor.berkeley.edu/∼goldberg/sa-gripper/.
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Varga, Jozef, František Ďurovský, and Juraj Kováč. "Design of Pneumatical Rubik’s Cube Solver." Applied Mechanics and Materials 613 (August 2014): 265–72. http://dx.doi.org/10.4028/www.scientific.net/amm.613.265.
Повний текст джерелаАнотація:
Rubik’s solver is prime example of science popularizing mechatronic device, combining computer vision techniques, advanced Rubik’s cube solving algorithm and control of industrial pneumatic components. First version of solver constructed by our department was equipped only by 2 lower grippers, resulting in approximately four minutes for single cube solution. Proposed paper describes not only experience gained by development of upgraded 4 gripper version but includes statistical analysis of Thistlethwait’s 45 algorithm required for solving process optimization. Mechanical design, electronics, system overview, performance and limitations of upgraded 4 gripper version are explained in detail as well. Development of vision algorithm for robust cube detection is described in conjoint paper “Robust detection of Rubik’s cube state using Hough transform and advanced clustering functions.”
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Mahanta, Golak Bihari, Deepak BBVL, Bibhuti B. Biswal, and Amruta Rout. "Optimal design of a parallel robotic gripper using enhanced multi-objective ant lion optimizer with a sensitivity analysis approach." Assembly Automation 40, no. 5 (July 8, 2020): 703–21. http://dx.doi.org/10.1108/aa-08-2019-0145.
Повний текст джерелаАнотація:
Purpose From the past few decades, parallel grippers are used successfully in the automation industries for performing various pick and place jobs due to their simple design, reliable nature and its economic feasibility. So, the purpose of this paperis to design a suitable gripper with appropriate design parameters for better performance in the robotic production systems. Design/methodology/approach In this paper, an enhanced multi-objective ant lion algorithm is introduced to find the optimal geometric and design variables of a parallel gripper. The considered robotic gripper systems are evaluated by considering three objective functions while satisfying eight constraint equations. The beta distribution function is introduced for generating the initial random number at the initialization phase of the proposed algorithm as a replacement of uniform distribution function. A local search algorithm, namely, achievement scalarizing function with multi-criteria decision-making technique and beta distribution are used to enhance the existing optimizer to evaluate the optimal gripper design problem. In this study, the newly proposed enhanced optimizer to obtain the optimum design condition of the design variables is called enhanced multi-objective ant lion optimizer. Findings This study aims to obtain optimal design parameters of the parallel gripper with the help of the developed algorithms. The acquired results are investigated with the past research paper conducted in that field for comparison. It is observed that the suggested method to get the best gripper arrangement and variables of the parallel gripper mechanism outperform its counterparts. The effects of the design variables are needed to be studied for a better design approach concerning the objective functions, which is achieved by sensitivity analysis. Practical implications The developed gripper is feasible to use in the assembly operation, as well as in other pick and place operations in different industries. Originality/value In this study, the problem to find the optimum design parameter (i.e. geometric parameters such as length of the link and parallel gripper joint angles) is addressed as a multi-objective optimization. The obtained results from the execution of the algorithm are evaluated using the performance indicator algorithm and a sensitivity analysis is introduced to validate the effects of the design variables. The obtained optimal parameters are used to develop a gripper prototype, which will be used for the assembly process.
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Liu, Dong, Minghao Wang, Naiyu Fang, Ming Cong, and Yu Du. "Design and tests of a non-contact Bernoulli gripper for rough-surfaced and fragile objects gripping." Assembly Automation 40, no. 5 (June 29, 2020): 735–43. http://dx.doi.org/10.1108/aa-10-2019-0171.
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Purpose Varied shapes and sizes of different products with irregular rough surface and fragile properties give a challenge to traditional contact gripping. Single Bernoulli grippers are not suited to handle fragile objects as the impact of center negative pressure force could result in large deformation and stress which damage the materials, and they are also have some limitations for gripping objects with different large and small shapes. Thus, this paper aims to design a non-contact gripper for soft, rough-surfaced and fragile objects gripping with multi Bernoulli heads, which have optimal structures and parameters. Design/methodology/approach The compressed air is ejected into four Bernoulli heads through radial and long flow channels, then passes through four strip-shaped narrow gaps after fully developing in the annular cavity to provide negative pressure. Based on the mathematic model and the computational model, the key structural parameters affecting the gripping performance are selected, and parameters optimization of the gripper is performed by computational fluid dynamics simulation analysis and performance evaluation. The orthogonal method is used and L16 orthogonal array is selected for experimental design and optimization. The characteristics of the designed gripper are tested from the aspects of pressure distribution and lifting force. Findings From the applications in gripping different objects, the designed non-contact gripper can grip varied shapes and sizes of soft, rough-surfaced, fragile and sliced objects with little effect of torque. Originality/value In this paper, a non-contact gripper is designed for handling soft, rough-surfaced and fragile objects based on the Bernoulli principle. A systematic approach, which consists of modeling, simulation, optimization and measurement is provided for the non-contact gripper design and tests.
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Białek, Marcin, and Dominik Rybarczyk. "A Comparative Study of Different Fingertips on the Object Pulling Forces in Robotic Gripper Jaws." Applied Sciences 13, no. 3 (January 17, 2023): 1247. http://dx.doi.org/10.3390/app13031247.
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This paper presents a comparative study of the use of different fingertips in robotic gripper jaws with respect to measuring the pulling force of selected shaped objects from their grasp. The authors built a dedicated test stand and provided methodology to evaluate it. The authors’ innovative approach was to design accessory-controlled jaws for the base of the Robotiq 2F-140 gripper. For the study, rigid structures—flexible soft cushions filled with air and magnetorheological fluid (MRF)—were developed for the jaw. In this way, comparable measurement results were obtained in terms of the structure of the gripper set-up. The secondary purpose of the study was to demonstrate the potential of the soft cushions that are adaptable to the shape of a gripped object. As a result, an adaptive structure was obtained that allows object pulling forces that are comparable to rigid fingertips. In doing so, this does not damage the surface of any of the interacting components. The cushions were made of thermoplastic polyurethane (TPU) formed using 3D printing technology. The results obtained during the implementation of this research may be beneficial for comparing gripper capabilities; thus, they can contribute to advances in smart devices and many industrial fields, including robotics and bioengineering.
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PĂDURARU, Emilian, Dragoș Florin CHITARIU, and Cătălin Gabriel DUMITRAȘ. "OPTIMIZATION OF A GRIPPER MADE BY COMPOSITE MATERIAL." Annals of the Academy of Romanian Scientists Series on Engineering Sciences 12, no. 2 (2020): 14–21. http://dx.doi.org/10.56082/annalsarscieng.2020.2.14.
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This paper presents a synthesis of the literature for gripping mechanisms and also a gripper solution. In the first part of the paper were taken into account general aspects of industrial robots, the current state of the art for grippers, force analysis, calculation methods and composite materials. The second part of the paper contains my own contribution. Following the analysis of current requirements, a gripping mechanism capable of meeting the criteria of flexible manufacturing systems and industrial robots was designed. This contains two pneumatic cylinders, one for the main movement and the second for grouping the fingers two by two. Also, in the second part, experimental tests of different types of composite materials were performed, the results being used for finite element analysis.
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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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Pham, D. T., and E. Tacgin. "Grippex: A hybrid expert system for selecting robot gripper types." International Journal of Machine Tools and Manufacture 32, no. 3 (June 1992): 349–60. http://dx.doi.org/10.1016/0890-6955(92)90007-4.
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Safreni Candra Sari. "Modelling a Brushless DC Motor Power Source Based Two-Finger Gripper." Jurnal Teknik: Media Pengembangan Ilmu dan Aplikasi Teknik 8, no. 1 (September 16, 2020): 15–24. http://dx.doi.org/10.26874/jt.vol8no1.326.
Повний текст джерелаАнотація:
In industrial automation system and robotic fields, men use gripper as end manipulator to do simple manipulation tasks as grasping, screwing, pulling, etc. In order to obtain stability in manipulating an object, the gripper has to receive the proper current to produce proper gripper force. Therefore the modelling the gripper, hence, plays an important role. The gripper being modelled has two state: open and close. The finger is open, when finger moves away from each other, and close when the finger moves to each other. Opening the gripper can be done by sending voltage 0 to +5 V to the gripper, and close by sending -5 V to 0 V. The voltage magnitude determines the acceleration of the finger movement, hence, the gripforce is determined by the dynamic of the current sent to the brushless dc motor in the gripper. This paper discuss the modelling process of the gripper. At the end, we will have a mathematical model of the gripper.
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Röthlisberger, Marc, Marcel Schuck, Laurenz Kulmer, and Johann W. Kolar. "Contactless Picking of Objects Using an Acoustic Gripper." Actuators 10, no. 4 (March 31, 2021): 70. http://dx.doi.org/10.3390/act10040070.
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Acoustic levitation forces can be used to manipulate small objects and liquids without mechanical contact or contamination. This work presents analytical models based on which concepts for the controlled insertion of objects into the acoustic field are developed. This is essential for the use of acoustic levitators as contactless robotic grippers. Three prototypes of such grippers are implemented and used to experimentally verify the lifting of objects into an acoustic pressure field. Lifting of high-density objects (ρ > 7 g/cm3) from acoustically transparent surfaces is demonstrated using a double-sided acoustic gripper that generates standing acoustic waves with dynamically adjustable acoustic power. A combination of multiple acoustic traps is used to lift lower density objects (ρ≤0.25g/cm3) from acoustically reflective surfaces using a single-sided arrangement. Furthermore, a method that uses standing acoustic waves and thin reflectors to lift medium-density objects (ρ≤1g/cm3) from acoustically reflective surfaces is presented. The provided results open up new possibilities for using acoustic levitation in robotic grippers, which has the potential to be applied in a variety of industrial use cases.
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Kaczmarek, Wojciech, Szymon Borys, Jarosław Panasiuk, Michał Siwek, and Piotr Prusaczyk. "Experimental Study of the Vibrations of a Roller Shutter Gripper." Applied Sciences 12, no. 19 (October 5, 2022): 9996. http://dx.doi.org/10.3390/app12199996.
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The article presents issues related to an experimental study of the vibrations of a roller shutter gripper on a robotic palletizing station. The authors presented the developed and built construction of the gripper for handling whole layers of products, separators, and pallets. The concept of the device was developed in cooperation with an integrator company. The authors verified the functionality of the gripper in a virtual environment for modeling and programming industrial robots. After the gripper was manufactured and the control software was developed for it, functional tests and inertia tests were carried out. The main purpose of the tests was to determine the vibration of the robot’s flange and the vibration of the attached gripper. Tests of the gripper’s properties on the robotic test bench were performed using MTi XSENS sensors and a PHANTOM V210 high-speed camera. The testing methodology proposed by the authors made it possible to confirm the occurrence of vibrations in the structure and to determine the relationship between the parameters of the robot’s motion (velocity and acceleration) and the magnitude of the vibrations occurring. During the tests, a disturbance in the decrease in the maximum value of acceleration was noted. This may be due to the appearance of natural vibrations in the structure. They have a damped character; however, they are not steady. In future work, the authors will focus on the possibility of using the proposed methodology to reduce robot vibrations in selected robotic production processes (such as spot welding).
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Mazzeo, Angela, Jacopo Aguzzi, Marcello Calisti, Simonepietro Canese, Fabrizio Vecchi, Sergio Stefanni, and Marco Controzzi. "Marine Robotics for Deep-Sea Specimen Collection: A Systematic Review of Underwater Grippers." Sensors 22, no. 2 (January 14, 2022): 648. http://dx.doi.org/10.3390/s22020648.
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The collection of delicate deep-sea specimens of biological interest with remotely operated vehicle (ROV) industrial grippers and tools is a long and expensive procedure. Industrial grippers were originally designed for heavy manipulation tasks, while sampling specimens requires dexterity and precision. We describe the grippers and tools commonly used in underwater sampling for scientific purposes, systematically review the state of the art of research in underwater gripping technologies, and identify design trends. We discuss the possibility of executing typical manipulations of sampling procedures with commonly used grippers and research prototypes. Our results indicate that commonly used grippers ensure that the basic actions either of gripping or caging are possible, and their functionality is extended by holding proper tools. Moreover, the approach of the research status seems to have changed its focus in recent years: from the demonstration of the validity of a specific technology (actuation, transmission, sensing) for marine applications, to the solution of specific needs of underwater manipulation. Finally, we summarize the environmental and operational requirements that should be considered in the design of an underwater gripper.
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Paszta, Piotr. "Modeling and analysis of industrial robot gripper." Mechanik, no. 7 (July 2015): 565/645–565/654. http://dx.doi.org/10.17814/mechanik.2015.7.281.
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Anwar, Muddasar, Toufik Al Khawli, Irfan Hussain, Dongming Gan, and Federico Renda. "Modeling and prototyping of a soft closed-chain modular gripper." Industrial Robot: the international journal of robotics research and application 46, no. 1 (January 21, 2019): 135–45. http://dx.doi.org/10.1108/ir-09-2018-0180.
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Purpose This paper aims to present a soft closed-chain modular gripper for robotic pick-and-place applications. The proposed biomimetic gripper design is inspired by the Fin Ray effect, derived from fish fins physiology. It is composed of three axisymmetric fingers, actuated with a single actuator. Each finger has a modular under-actuated closed-chain structure. The finger structure is compliant in contact normal direction, with stiff crossbeams reorienting to help the finger structure conform around objects. Design/methodology/approach Starting with the design and development of the proposed gripper, a consequent mathematical representation consisting of closed-chain forward and inverse kinematics is detailed. The proposed mathematical framework is validated through the finite element modeling simulations. Additionally, a set of experiments was conducted to compare the simulated and prototype finger trajectories, as well as to assess qualitative grasping ability. Findings Key Findings are the presented mathematical model for closed-loop chain mechanisms, as well as design and optimization guidelines to develop controlled closed-chain grippers. Research limitations/implications The proposed methodology and mathematical model could be taken as a fundamental modular base block to explore similar distributed degrees of freedom (DOF) closed-chain manipulators and grippers. The enhanced kinematic model contributes to optimized dynamics and control of soft closed-chain grasping mechanisms. Practical implications The approach is aimed to improve the development of soft grippers that are required to grasp complex objects found in human–robot cooperation and collaborative robot (cobot) applications. Originality/value The proposed closed-chain mathematical framework is based on distributed DOFs instead of the conventional lumped joint approach. This is to better optimize and understand the kinematics of soft robotic mechanisms.
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Roth, Franziska, Henrik Eschen, and Thorsten Schüppstuhl. "The Loop Gripper: A Soft Gripper for Honeycomb Materials." Procedia Manufacturing 55 (2021): 160–67. http://dx.doi.org/10.1016/j.promfg.2021.10.023.
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Lu, Xiaolong, Shiping Zhao, Deping Yu, and Xiaoyu Liu. "Pylon-Climber: a novel climbing assistive robot for pylon maintenance." Industrial Robot: An International Journal 44, no. 1 (January 16, 2017): 38–48. http://dx.doi.org/10.1108/ir-06-2016-0172.
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Purpose The purpose of this paper is to describe the design and development of “Pylon-Climber”, a pole climbing robot (PCR) for climbing along the corner columns of electricity pylon and assisting the electricians to complete maintenance tasks. Design/methodology/approach Introduces a PCR that is composed of a simple climbing mechanism and two novel grippers. The gripper consists of two angle-fixed V-blocks, and the size of V-block is variable. The clamping method of the angle bar meets the requirement of the force closure theorem. The whole design adopts symmetrical design ideas. Findings The developed prototype proved possibility of application of PCRs for inspection and maintenance of pylon. The novel gripper can provide enough adhesion force for climbing robot. Practical implications The robot is successfully tested on a test tower composed of different specification steel angles, oblique ledges and overlapping steel struts. Originality/value Design and development of a novel climbing assistive robot for pylon maintenance. The robot is able to climb along the column of electricity pylon and pass all obstacles. The gripper can reliably grasp the angle bar with different specification and overlapping steel struts from multiple directions.
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Staretu, Ionel, and Sebastian Jitariu. "Reconfigurable Anthropomorphic Gripper with Three Fingers: Synthesis, Analysis, and Simulation." Applied Mechanics and Materials 762 (May 2015): 75–82. http://dx.doi.org/10.4028/www.scientific.net/amm.762.75.
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This paper shows the steps of structural synthesis and analysis, kinematic synthesis and analysis and CAD constructive design of a reconfigurable modular anthropomorphic gripper with three fingers. Modularity refers to the fact that the gripper variants can be obtained with only two modules, namely a platform and a finger. Reconfigurability refers to the fact that the main variants of the gripper can be obtained by changing the relative position of the fingers. It is demonstrated that the three-finger gripper has four main configurations that provide important functionality even reported to the functionality of a three-finger gripper with continuous reconfigurability. To verify correct operation, functional CAD simulation is performed, and for dynamic operation simulation, we turn to the advanced software ADAMS. An important advantage of this type of gripper, compared to those with continuous reconfigurability, is much lower price at a relatively good functionality for current robotic gripping operations. The paper makes possible subsequent turn to prototype, testing the gripper operation, as it is mounted on an industrial robot, and optimization of its operation by equipping it with contact sensors. The simulation of the gripper operation in virtual environment and data transmission to the real gripper is a solution of interest that will be studied in future research.
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Jitariu, Sebastian, Ionel Staretu, and Catalin Moldovan. "Robotized Montage Unit which Uses an Anthropomorphic Gripper with Five Fingers: CAD Modelling and Simulation." Applied Mechanics and Materials 656 (October 2014): 146–53. http://dx.doi.org/10.4028/www.scientific.net/amm.656.146.
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This paper presents an original integrated solution of montage robotization of assemblies of small and medium complexity. The robotic station (the robotized cell) proposed contains a joint industrial robot equipped with an anthropomorphic gripper with five fingers, two feeders, a montage table and a storage terminal. CAD modelling of the whole system and functional simulation are performed, which certifies the validity of its correct operation. The gripper used is anthropomorphic with five fingers and five degrees of freedom with a relatively simple structure but high functionality. The gripper, adapted by a popular variant is realized as prototype at low cost, through rapid prototyping, and tested. The gripper control is possible through the advanced method of human hand gestures capture with a Motion Leap device and their transmission through a virtual interface to the real gripper. In perspective, it is considered mounting the gripper in an improved variant, on a real robot and testing the operation of the proposed montage scenario.
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Lu, Xiaolong, Shiping Zhao, Xiaoyu Liu, and Yishu Wang. "Design and analysis of a climbing robot for pylon maintenance." Industrial Robot: An International Journal 45, no. 2 (March 19, 2018): 206–19. http://dx.doi.org/10.1108/ir-08-2017-0143.
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Purpose The purpose of this paper is to describe the design and development of “Pylon-Climber II”, a 5-DOF biped climbing robot (degree of freedom – DOF) for moving on the external surface of a tower and assisting the electricians to complete some maintenance tasks. Design/methodology/approach The paper introduces a pole-climbing robot, which consists of a 5-DOF mechanical arm and two novel grippers. The gripper is composed of a two-finger clamping module and a retractable L-shaped hook module. The robot is symmetrical in structure, and the rotary joint for connecting two arms is driven by a linear drive mechanism. Findings The developed prototype proved a new approach for the inspection and maintenance of the electricity pylon. The gripper can reliably grasp the angle bars with different specifications by using combined movement of the two-finger clamping module and the retractable L-shaped hook module and provide sufficient adhesion force for the Pylon-Climber II. Practical implications The clamping experiments of the gripper and the climbing experiments of the robot were carried out on a test tower composed of some angle bars with different specification. Originality/value This paper includes the design and development of a 5-DOF biped climbing robot for electricity pylon maintenance. The climbing robot can move on the external surface of the electric power tower through grasping the angle bar alternatively. The gripper that is composed of a two-finger gripping module and a retractable L-shaped hook module is very compact and can provide reliable adhesion force for the climbing robot.
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KELEMEN, MICHAL, TATIANA KELEMENOVA, IVAN VIRGALA, LUBICA MIKOVA, ERIK PRADA, MARTIN VARGA, JAN SEMJON, MAREK SUKOP, and RUDOLF JANOS. "ROBOTIC GRIPPER ACTUATED USING THE SHAPE MEMORY ALLOY ACTUATORS." MM Science Journal 2022, no. 1 (March 9, 2022): 5539–45. http://dx.doi.org/10.17973/mmsj.2022_03_2022015.
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The article deals with the design of a gripper for a manipulator. The use of a shape memory alloy actuator, which is excited by heating by means of an electric current, is proposed for driving the gripper jaws. Variant solutions of the gripper kinematics and the final design of the gripper arrangement are solved. A gripper kinematics simulation is created to find a suitable gripper geometry.
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Schouterden, Gert, Rafaël Verbiest, Eric Demeester, and Karel Kellens. "Robotic Cultivation of Pome Fruit: A Benchmark Study of Manipulation Tools—From Research to Industrial Standards." Agronomy 11, no. 10 (September 25, 2021): 1922. http://dx.doi.org/10.3390/agronomy11101922.
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In pome fruit cultivation, apples and pears need to be handled in various processes such as harvesting and sorting. Currently, most processes require a vast amount of manual labor. Combined with a structural shortage of seasonal workers, innovation in this field is crucial. Automated processes could provide a solution wherein the search for an appropriate manipulation tool is essential. Aside from several grippers, customized for harvesting by various researchers, the industry also provides a wide variety of standardized manipulation tools. This paper benchmarks a wide set of the most relevant gripping principles, primarily based on their ability to successfully handle fruit, without causing damage. In addition, energy consumption and general feasibility are evaluated as well. The performed study showed that the customized foam gripper scores the overall best for all test scenarios at the cost of being the least energy efficient. Furthermore, most other gripping tools excelled at certain specific tasks rather than being generally deployable. Impactive grippers are better suited for harvesting at low energy consumption, while astrictive grippers are more suited for sorting tasks constricted by the available space. The results also showed that commercially available soft grippers are not always capable of handling sensitive fruits such as pears without causing damage.
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Krenich, Stanisław. "Optimal Design of Robot Gripper Mechanism Using Force and Displacement Transmission Ratio." Applied Mechanics and Materials 613 (August 2014): 117–25. http://dx.doi.org/10.4028/www.scientific.net/amm.613.117.
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The paper presents an approach to design optimization of robot gripper mechanism. There are two different optimization criteria, a force transmission ratio and a displacement transmission ratio, considered. In order to generate the optimal solutions, three algorithms are applied. There are gradient based method, random search method and evolutionary algorithm used. The results and a comparison with the industrial gripper, show possibility to improve parameters of the gripper mechanism using optimization procedure. They show as well, that conventional algorithms often fail during optimization process and the most suitable methods in this case are evolutionary algorithms.
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TANAKA, JUNYA, and NOBUTO MATSUHIRA. "DEVELOPMENT OF A PARALLEL GRIPPER WITH AN EXTENSION NAIL MECHANISM USING A METAL BELT." MM Science Journal 2021, no. 2 (June 2, 2021): 4444–51. http://dx.doi.org/10.17973/mmsj.2021_6_2021084.
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Aiming to expand the range of applications for parallel grippers, we propose an extension nail mechanism that can be mounted on a parallel gripper. We also propose an extension nail mechanism comprising a stainless steel belt, two transport belts, a triangular nail, and a drive unit. The triangular nail is connected to one end of the stainless steel belt, and the drive unit is connected near the other end. We achieve smooth sliding of the nails underneath objects by arranging the transport belts on either side of the stainless steel belt. By elastically winding one end of the stainless steel belt and each of the transport belts, the nail mechanism can be miniaturized while achieving large expansion and contraction. We achieve stable grasping operations by using the extension nail mechanism of the parallel gripper in accordance with the flexibility of the object.
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Fotuhi, Mohammad Javad, and Zafer Bingul. "Comparative Study of the Parallel and Angular Electrical Gripper for Industrial Applications." Acta Mechanica et Automatica 15, no. 2 (June 1, 2021): 66–73. http://dx.doi.org/10.2478/ama-2021-0010.
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Abstract The aim of this paper is to study the position and power performances of an electrical lead screw-driven industrial gripper mechanism (LSDIGM). This work consists of designing and developing an electrical LSDIGM that has the potential to meet various demands in the automation industry and factories. The performances of both angular electrical gripper (AEG) and parallel electrical gripper (PEG) mechanisms were compared based on their position and power efficiency. The position efficiency of these electrical LSDIGM is computed from the position root mean square error (PRMSE) obtained from errors between the two measured positions (input incremental encoder and output linear encoder). In the experimental setup, a current sensor and a spring were employed to measure the current in the input of the system and the stiffness in the output of the system, respectively. The electrical power in the input of the electrical LSDIGM and the mechanical power in the output of the LSDIGMs were calculated using the current and the spring force, respectively. Finally, the power efficiency of these electrical LSDIGMs was examined and compared at different velocity circumstances.
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Wolniakowski, Adam, Andrej Gams, Lilita Kiforenko, Aljaž Kramberger, Dimitrios Chrysostomou, Ole Madsen, Konstantsin Miatliuk, et al. "Compensating Pose Uncertainties through Appropriate Gripper Finger Cutouts." Acta Mechanica et Automatica 12, no. 1 (March 1, 2018): 78–83. http://dx.doi.org/10.2478/ama-2018-0013.
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Abstract The gripper finger design is a recurring problem in many robotic grasping platforms used in industry. The task of switching the gripper configuration to accommodate for a new batch of objects typically requires engineering expertise, and is a lengthy and costly iterative trial-and-error process. One of the open challenges is the need for the gripper to compensate for uncertainties inherent to the workcell, e.g. due to errors in calibration, inaccurate pose estimation from the vision system, or object deformation. In this paper, we present an analysis of gripper uncertainty compensating capabilities in a sample industrial object grasping scenario for a finger that was designed using an automated simulation-based geometry optimization method (Wolniakowski et al., 2013, 2015). We test the developed gripper with a set of grasps subjected to structured perturbation in a simulation environment and in the real-world setting. We provide a comparison of the data obtained by using both of these approaches. We argue that the strong correspondence observed in results validates the use of dynamic simulation for the gripper finger design and optimization.
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Mańkowski, Tomasz, Jakub Tomczyński, Krzysztof Walas, and Dominik Belter. "PUT-Hand—Hybrid Industrial and Biomimetic Gripper for Elastic Object Manipulation." Electronics 9, no. 7 (July 16, 2020): 1147. http://dx.doi.org/10.3390/electronics9071147.
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In this article, the design of a five-fingered anthropomorphic gripper is presented specifically designed for the manipulation of elastic objects. The manipulator features a hybrid design, being equipped with three fully actuated fingers for precise manipulation, and two underactuated, tendon-driven digits for secure power grasping. For ease of reproducibility, the design uses as many off-the-shelf and 3D-printed components as possible. The on-board controller circuit and firmware are also presented. The design includes resistive position and angle sensors in each joint, resulting in full joint observability. The controller has a position-based controller integrated, along with USB communication protocol, enabling gripper state reporting and direct motor control from a PC. A high-level driver operating as a Robot Operating System node is also provided. All drives and circuitry of the PUT-Hand are integrated within the hand itself. The sensory system of the hand includes tri-axial optical force sensors placed on fully actuated fingers’ fingertips for reaction force measurement. A set of experiments is provided to present the motion and perception capabilities of the gripper. All design files and source codes are available online under CC BY-NC 4.0 and MIT licenses.
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Negrea, Doina, Tudor Deaconescu, and Andrea Deaconescu. "Symmetrical Pneumatic Muscle Actuated Gripper System with Two Mobile Jaws." Applied Mechanics and Materials 541-542 (March 2014): 852–56. http://dx.doi.org/10.4028/www.scientific.net/amm.541-542.852.
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The paper argues the possibility of utilising artificial muscles actuated with compressed air in the construction of industrial gripper systems. Their utilisation as motors comes as a response to the increasingly sophisticated requirements these have to satisfy, related to the developed force, structural rigidity, compliance and dexterity. The paper presents a variant of symmetrical gripper system with two mobile jaws actuated by a pneumatic muscle. The main requirements for this gripper are defined, the structure of the mechanism is presented and the transmission functions of forces and velocities are determined. Eventually the paper discusses the construction of the system and its functional limitations.
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Garcia Rubiales, F. Javier, Pablo Ramon Soria, Begoña C. Arrue, and Anibal Ollero. "Soft-Tentacle Gripper for Pipe Crawling to Inspect Industrial Facilities Using UAVs." Sensors 21, no. 12 (June 16, 2021): 4142. http://dx.doi.org/10.3390/s21124142.
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This paper presents a crawling mechanism using a soft-tentacle gripper integrated into an unmanned aerial vehicle for pipe inspection in industrial environments. The objective was to allow the aerial robot to perch and crawl along the pipe, minimizing the energy consumption, and allowing to perform contact inspection. This paper introduces the design of the soft limbs of the gripper and also the internal mechanism that allows movement along pipes. Several tests have been carried out to ensure the grasping capability on the pipe and the performance and reliability of the developed system. This paper shows the complete development of the system using additive manufacturing techniques and includes the results of experiments performed in realistic environments.
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Kaimov, Abylay, Yerzhan Syrgaliyev, Amandyk Tuleshov, Suleimen Kaimov, Talgat Kaiym, Aidarkhan Kaimov, and Altynay Primbetova. "Creation of an innovative robot with a gripper for moving plant microshoots from the in vitro transport tank to the working tank with soil ground at the stage of their adaptation in soil ground during microclonal reproduction." Eastern-European Journal of Enterprise Technologies 1, no. 7(115) (February 28, 2022): 48–58. http://dx.doi.org/10.15587/1729-4061.2022.253135.
Повний текст джерелаАнотація:
The industrial development of cities is the main cause of the destruction and degradation of natural resources around the world. Urbanization negatively affects the species composition of plants, the atmosphere and soil cover of areas of populated areas of large cities of the World. Tree plantations are the main mechanism for stabilizing the ecological situation in large cities and arid territories of the countries of the World. In this regard, in order to obtain a large number of genetically identical plants using their micropropagation, it is necessary to automate the main stages of this technological process. The result of the study is the creation of an adaptive phalanx gripper of a robotic complex for automating the technological process of handling operations. That will have a positive effect on solving the urgent problem of planting greenery in large cities and areas of arid territories not only in the Republic of Kazakhstan, but also in other countries of the World and represents a fundamentally new approach to solving the environmental problems of the Earth. The article substantiates various options for structural-kinematic schemes of the robot gripper, taking into account the stochastic conditions of its interaction with the overloaded object. Mathematical methods have been created for the selection and justification of the geometric, structural-kinematic and dynamic parameters of grippers for overloading plant microshoots and their computer 3D models. Software has been developed for modeling the functioning of a remotely controlled physical prototype of a mobile robot with an adaptive gripper for reloading microshoots from a transport tank to a cargo tank.