Relevant bibliographies by topics / Robot Gripper

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
  6. Reports

Academic literature on the topic 'Robot Gripper'

Author: Grafiati
Published: 4 June 2021
Last updated: 8 February 2022

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Journal articles on the topic "Robot Gripper"

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Yang, Yang, Kaixiang Jin, Honghui Zhu, Gongfei Song, Haojian Lu, and Long Kang. "A 3D-Printed Fin Ray Effect Inspired Soft Robotic Gripper with Force Feedback." Micromachines 12, no. 10 (September 23, 2021): 1141. http://dx.doi.org/10.3390/mi12101141.

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Soft robotic grippers are able to carry out many tasks that traditional rigid-bodied grippers cannot perform but often have many limitations in terms of control and feedback. In this study, a Fin Ray effect inspired soft robotic gripper is proposed with its whole body directly 3D printed using soft material without the need of assembly. As a result, the soft gripper has a light weight, simple structure, is enabled with high compliance and conformability, and is able to grasp objects with arbitrary geometry. A force sensor is embedded in the inner side of the gripper, which allows the contact force required to grip the object to be measured in order to guarantee successful grasping and to provide the most suitable gripping force. In addition, it enables control and data monitoring of the gripper’s operating state at all times. Characterization and grasping demonstration of the gripper are given in the Experiment section. Results show that the gripper can be used in a wide range of scenarios and applications, such as the service robot and food industry.
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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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Qiaoling, Du, Lu Xinpo, Wang Yankai, and Liu Sinan. "The obstacle-surmounting analysis of a pole-climbing robot." International Journal of Advanced Robotic Systems 17, no. 6 (November 1, 2020): 172988142097914. http://dx.doi.org/10.1177/1729881420979146.

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Surmounting obstacles during continuously climbing in a complex environment is an important issue for pole-climbing robots. An obstacle-surmounting strategy is presented for a pole-climbing robot. The force and moment applied on the pole-climbing robot in static status were analyzed, and the analysis of pole-climbing robot’s upward vertical climbing was conducted. The climbing execution has four steps: loosening the lower gripper, curling up, striding forward, and clamping the upper gripper. To obtain the information of obstacle crossing accurately, the obstacle-surmounting conditions were analyzed in detail. We modeled the striding linkage with thickness and obtained the Denavit–Hartenberg coordinates of each vertex. The model of the grippers with thickness was proposed and the Denavit–Hartenberg coordinates of each vertex of the grippers were obtained. Then single-step negotiating an obstacle and multistep negotiating an obstacle were proposed. Experiments were conducted to verify the effectiveness of the obstacle-surmounting strategy.
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Cho, Jeoung S., Eric M. Malstromt, and John C. Even. "Use of coding and classification systems in the design of universal robotic grippers." Robotica 11, no. 4 (July 1993): 345–50. http://dx.doi.org/10.1017/s026357470001660x.

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SUMMARYRecent hardware advances for robot accessories include self changing grippers. A universal wrist has the capability of accessing and pneumatically attaching itself to a limited number of grippers that can be stored in a magazine. This paper addresses the determination of self changing gripper characteristics to permit the grasping of a wide variety of geometric shapes with a limited number of different gripper types.
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Jaison, Jerry, Vasudevan Nagaraj, and Arockia Selvakumar A. "A Novel Gripper design for Diaphragm spring plate Pick and Place Cobot." International Journal of Engineering & Technology 7, no. 4.36 (December 9, 2018): 394. http://dx.doi.org/10.14419/ijet.v7i4.36.23812.

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Robot integrated manufacturing has turned out to be the future of manufacturing automation technology. Worker assisting robots perform simultaneously operation including machining, assembly, inspection, material handling etc. and in some case multiple operations in the same system at a faster and precise rate. Collaborative robots are human and computer controlled hybrid material handling device which facilitates the concept of shared workspace. To exploit its function, gripper mechanisms are inevitable. This project focuses on the design of cobotic grippers for pick and place application. Of the different concepts compared a suitable design is chosen. The gripper moves according to the signals received from the cobot, sensors and PLC control system.
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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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Zhang, Mike Tao, and Ken Goldberg. "Designing robot grippers: optimal edge contacts for part alignment." Robotica 25, no. 3 (May 2006): 341–49. http://dx.doi.org/10.1017/s0263574706003134.

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SUMMARYAlthough parallel-jaw grippers play a vital role in automated manufacturing, gripper surfaces are still designed by trial-and-error. This paper presents an algorithmic approach to designing gripper jaws that mechanically align parts in the vertical (gravitational) plane. We consider optimal edge contacts, based on modular trapezoidal segments that maximize contact between the gripper and the part at its desired final orientation. Given then-sided 2D projection of an extruded convex polygonal part, mechanical properties such as friction and center of mass, and initial and desired final orientations, we present anO(n3logn) numerical algorithm to design optimal gripper jaws. We also present anO(nlogn) algorithm to compute tolerance classes for these jaws, and report on an online implemented version of the algorithm and physical experiments with the jaws it designed. This paper extends earlier results that generated optimal point contacts [M. T. Zhang and K. Goldberg, “Gripper point contacts for part alignment,”IEEE Trans. Robot. Autom.18(6), 902–910 (2002)].
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Shin, Dong Hwan, Choong Pyo Jeong, Tae Sang Park, Yoon Gu Kim, and Ji Nung An. "Algorithm for the Extraction of Optimal Gripping Force Range with the Robot Gripper." Applied Mechanics and Materials 251 (December 2012): 164–68. http://dx.doi.org/10.4028/www.scientific.net/amm.251.164.

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The arm of robot consists of a manipulator and an end-effector. The end-effector is doing a specific work such as welding, picking and placing, sawing, deburring, suction, etc. with for the specific object of robot system. Here we are focused on the gripper among end-effectors. If the gripper generates the excessive gripping force, then the gripped material can have a permanent deformation. On the other hand, if the gripping force is too small, then the gripped material can be slip from the end-effector, drop to the floor and will get damaged. Therefore, it is important to use the adequate gripping force of the gripper. In this paper, we suggest the algorithm which is easy to automate, for the extraction of optimal gripping force range, with the estimation of frictional coefficient and young’s modulus.
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Romeo, Rocco Antonio, Michele Gesino, Marco Maggiali, and Luca Fiorio. "Combining Sensors Information to Enhance Pneumatic Grippers Performance." Sensors 21, no. 15 (July 24, 2021): 5020. http://dx.doi.org/10.3390/s21155020.

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The gripper is the far end of a robotic arm. It is responsible for the contacts between the robot itself and all the items present in a work space, or even in a social space. Therefore, to provide grippers with intelligent behaviors is fundamental, especially when the robot has to interact with human beings. As shown in this article, we built an instrumented pneumatic gripper prototype that relies on different sensors’ information. Thanks to such information, the gripper prototype was able to detect the position of a given object in order to grasp it, to safely keep it between its fingers and to avoid slipping in the case of any object movement, even very small. The gripper performance was evaluated by means of a generic grasping algorithm for robotic grippers, implemented in the form of a state machine. Several slip tests were carried out on the pneumatic gripper, which showed a very fast response time and high reliability. Objects of various size, shape and hardness were employed to reproduce different grasping scenarios. We demonstrate that, through the use of force, torque, center of pressure and proximity information, the behavior of the developed pneumatic gripper prototype outperforms the one of the traditional pneumatic gripping devices.
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Mahler, Jeffrey, Matthew Matl, Vishal Satish, Michael Danielczuk, Bill DeRose, Stephen McKinley, and Ken Goldberg. "Learning ambidextrous robot grasping policies." Science Robotics 4, no. 26 (January 16, 2019): eaau4984. http://dx.doi.org/10.1126/scirobotics.aau4984.

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Universal picking (UP), or reliable robot grasping of a diverse range of novel objects from heaps, is a grand challenge for e-commerce order fulfillment, manufacturing, inspection, and home service robots. Optimizing the rate, reliability, and range of UP is difficult due to inherent uncertainty in sensing, control, and contact physics. This paper explores “ambidextrous” robot grasping, where two or more heterogeneous grippers are used. We present Dexterity Network (Dex-Net) 4.0, a substantial extension to previous versions of Dex-Net that learns policies for a given set of grippers by training on synthetic datasets using domain randomization with analytic models of physics and geometry. We train policies for a parallel-jaw and a vacuum-based suction cup gripper on 5 million synthetic depth images, grasps, and rewards generated from heaps of three-dimensional objects. On a physical robot with two grippers, the Dex-Net 4.0 policy consistently clears bins of up to 25 novel objects with reliability greater than 95% at a rate of more than 300 mean picks per hour.
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Dissertations / Theses on the topic "Robot Gripper"

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Andersson, Emma. "Gripper Tool Designed for a Surgical Collaborative Robot." Thesis, KTH, Medicinteknik och hälsosystem, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-272827.

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In surgery, suturing is the use of needle and thread to join cut and/or damaged anatomical structures together. This repair strategy is highly versatile and is universal for all types of surgery as the goal is to restore, repair or improve function and/or appearance. The needles are almost always curved in shape, and it is handled and maneuvered by surgeons with a special tool called: needle driver. The versatility of this setup has proven its worth over time as needle drivers are one of the indispensable instruments in all types of surgery. We are entering a future where robots can be programmed to execute tasks with much higher level of precision and speed compared to humans. Medical robotics in surgery has gained ground over the past decades due to promising clinical results. A straightforward step in this direction would be to create a solution that enables the robot to grip needle driver. The purpose of this study was to develop a gripper tool that enables a collaborative robot to perform suturing with one of the most common types of needle drivers used in surgery. The Double Diamond design framework was employed. The selected content in the predefined four phases were: 1) Discover: Observation, MoSCoW Prioritization, Brainstorming, Choosing a Sample, Fast Visualisation, 2) Define: Assessment criteria, 3) Develop: Physical prototyping 4) Deliver: Final testing and Evaluation. In the first phase, Discover, clinical and technical demands were formulated. In the second phase, Define, numerous design ideas were generated and drafted on paper whereof the one with highest assessment score was chosen for physical prototyping. In phase three, Develop, the selected design idea was modelled in cardboard, clay and silicon, and 3D printed. Multiple design iterations were guided by feedback from clinical and technical experts and resulted in a final prototype design that was accepted by the experts. In phase four, Deliver, the final prototype was subjected to final testing and evaluation. Observation of five live and one video recording of surgical procedures on real patients were made. The insights gained were confirmed with the lead and co-surgeons of each procedure and were summarized in 24 clinically important observations relevant for the gripper tool design. Careful analysis of the previously designed gripper tool, live observation of the robot’s motion pattern and range, and interview with robotic engineer were summarized in ten technically important observations. The observations were then used to formulate the clinical and technical demands that the gripper tool design aims to fulfill, followed by prioritizing the demands and design features according by MoSCoW method and brainstorming on how to improve previous gripper tool design. To limit the scope of the design challenge, one of the five types of needle drivers used in pediatric heart surgery in Lund was selected in the method Choosing a Sample. To further characterize the clinical and technical demands, a test bench was set up to Define and measure force vectors applied on the needle driver when held by a surgeon during suturing. The radial forces vectors in six directions perpendicular to the tip of the needle driver ranged from 1.6 N to 3.8 N. The axial force along the length of the needle driver was 7.6 N towards the tip and 8.4 N towards the back end. The clockwise and counterclockwise torque along the length axis of the needle driver was 0.2 Nm and 0.18 Nm, respectively. The set of defined demands were sufficient to sketch numerous ideas of gripper tool designs according to the Fast Visualization method. These designs were then used in the Define phase to communicate the design ideas with surgeons, robotic and product development engineers. The most promising idea was advanced to the Develop phase where physical prototypes were produced in cardboard, clay and silicon and 3D printed. Inadequacies were found during design feedback with interviews and testing together with clinical and technical experts, and design actions were taken to arrive at the final prototype. The final prototype was brought into the Deliver phase for final testing and evaluation. The gripper tool could handle lager force loads than the human surgeon in all the stability tests. However, deflection of the needle driver occurred with the gripper tool unlike when the surgeon was subject to stability testing. One pediatric heart surgeon and one robotic engineer was asked to generate a composite score of fulfillment rate from 1–5, where 1 is bad, 3 satisfactory, and 5 excellent after final testing of the gripper tool was carried out. The final prototype of the gripper tool fulfills all clinical and technical demands at the level of 4, and 3–5, respectively. In conclusion, the design methodology used in this study was useful in the development of a gripper tool design that respects both clinical and technical demands. This suggest that the methodology may be used in similar setting of design challenges in the field between medical and technical innovation. The gripper tool fulfilled the demands, although further refinement in the choice of material, further testing and investigation of regulatory aspects are required before it can be implemented in the operating room.
Vid operation är suturering användningen av nål och tråd för att sammanfoga snittad och/eller skadade anatomiska strukturer. Denna reparationsstrategi är mycket mångsidig och universell för alla typer av kirurgi eftersom målet är att återställa reparera eller förbättra funktion och/eller anatomisk defekt. Nålarna är nästan alltid krökta i sin form och de hanteras och manövreras av kirurgerna med ett speciellt verktyg som kallas: nålförare. Mångsidigheten i denna uppställning har visat sig över tid eftersom nålförare är ett av de oumbärliga instrumenten vid alla typer av operationer. Vi går in i en framtid där robotar kan programmeras för att utföra uppgifter med mycket högre precision och hastighet jämfört med människor. Medicinska robotar inom kirurgi har varit på frammarsch senaste årtionden på grund av goda kliniska resultat. Ett steg i denna riktning skulle vara att skapa en lösning som gör det möjligt för en robot att greppa nålföraren. Syftet med denna studie var att utveckla ett gripdon som möjliggör för en kollaborativ robot att utföra suturering med hjälp av en av de vanligaste typerna av nålförare som används vid operation. Design metodiken Double Diamond användes för att beskriva design processensen. Det valda metoderna i de fyra för definierade faser var: 1) Discover: Observation, MoSCoW Prioritization, Brainstorming, Choosing a Sample, Fast Vissualization, 2) Define: Assessment criteria, 3) Develop: Physical Prototyping, 4) Deliver: Final testing and Evaluation. I första fasen, Discover, formulerades kliniska och tekniska krav. I den andra fasen, Define, definierades flera designidéer som skissades på papper, varav den med den högsta poängen valdes i Assessment criteria. I fas tre, Develop, modellerades den valda designidén i kartong, lera och silikon samt 3D-printades. Flera designiterationer gjordes baserat på feedback från kliniska och tekniska experter vilket resulterade i en slutlig prototypdesign som godkändes av experterna. I fas fyra, Deliver, testades och utvärderades den slutliga prototypen. Observation av fem realtids och en videoinspelning av kirurgiska ingrepp på riktiga patienter gjordes. Insikterna som gjordes bekräftades med kirurgerna som genomförde operationen och sammanfattades i 24 kliniskt viktiga observationer som var relevanta för gripdon designen. Noggrann realtids observation av robotens rörelsemönster samt analys av det tidigare utformade gripdonen och intervju med en robotingenjör sammanfattades i tio tekniskt viktiga observationer. Observationerna användes för att formulera kliniska och tekniska krav som gripdons designen strävar efter att uppfylla, följt av prioritering av kraven och designegenskaper enligt MoSCoW-metoden och brainstorming kring hur tidigare gripdons design kan förbättras. För att begränsa designutmaningens omfattning valdes en av de fem typer av nålförare som används vid barnhjärtkirurgi i Lund genom metoden Chossing a sample. För att ytterligare karakterisera de kliniska och tekniska kraven upprättades en testbänk för att definiera och mäta kraftvektorer som appliceras på nålföraren när den hålls av en kirurg under suturering. De radiella krafterna i sex riktningar vinkelrätt mot nålförarens spets varierade från 1,6 N till 3,8 N. Den axiella kraften längs nålförarens längd var 7,6 N mot spetsen och 8,4 N mot bakänden. Medurs och moturs vridmoment längs nålförarens längdaxel var 0,2 Nm respektive 0,18 Nm. Dom definierade kraven låg till grund för skisser av flertal gripdondesign idéer enligt Fast Visualization. Dessa skisser användes sedan i Define fasen för att kommunicera designidéer med kirurger samt robot- och produktutvecklingsingenjörer. Den mest lovande idén togs till Develop fasen där fysiska prototyper togs fram i kartong, lera och silikon samt genom 3D-printning. Förbättringspunkter hittades under testning och återkoppling med intervjuer tillsammans med kliniska och tekniska experter. Designåtgärder baserat på återkopplingen gjordes för att komma fram till den slutliga prototypen. Slutlig testning och utvärdering av den slutliga prototypen genomfördes i Deliver fasen. Gripdons designen kunde hantera större belastningar än den mänskliga kirurgen i alla stabilitetstester. Böjning av nålföraren uppstod dock i testerna med gripverktyget till skillnad från testerna med kirurgen var föremål för stabilitetsprovning. En barnhjärtkirurg och en robotingenjör poängsatte uppfyllnadsgrad av de kliniska respektive tekniska kraven efter att slutlig testning av gripdonet utförts. Uppfyllnadsgraden poängsattes från 1–5 där 1 var dålig, 3 tillfredsställande och 5 utmärkt. Gripdonets slutliga prototyp uppfyller alla kliniska och tekniska krav på nivå 4 respektive 3–5. Designmetodiken som användes i denna studie var användbar för utvecklingen av gripdon som uppfyller både de kliniska och tekniska kraven. Detta tyder på att denna metod kan användas i liknande designutmaningar inom området mellan medicinsk och teknisk innovation. Gripdonet uppfyllde kraven även om ytterligare förfining i materialvalet, ytterligare testning och undersökning av regulatoriska aspekter krävs innan den kan användas under riktiga operationer i operationssalen.
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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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Dogan, Burak. "Development Of A Two-fingered And A Four-fingered Robotic Gripper." Master's thesis, METU, 2010. http://etd.lib.metu.edu.tr/upload/12611863/index.pdf.

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In this thesis study, a two-fingered gripper and a four-fingered multipurpose gripper are developed and manufactured. In addition to development of robotic hands, computer control hardware and software are also developed for computer control of both hands. The two-fingered gripper is designed for a specially defined pick and place operation. Its task is to pick a cylindrical work piece and place it in the appropriate position in a flexible manufacturing cell. Pneumatic actuator is used for power generation and mechanical links are used for power transmission. Fourfingered gripper is designed as a multipurpose gripper. The task is not predefined for this gripper, so, human hand and previous dexterous hands are taken as model during design. It consists of 3 fingers and a thumb. It has 1 degree of freedom for every finger and thumb. Pneumatic actuators are also used for this gripper. Rope and pulley system is used for the power transmission mechanism. Structures of both hands are manufactured from 5083 series aluminum. Gripping force can be controlled by the pressure regulator of the pneumatic system for both hands. Computer software is developed for the control of open and close motion of the fingers. Also, a motion control card is designed and manufactured for control of the pneumatic valves.
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Mardapittas, C. S. "Advanced gripping and tactile recognition." Thesis, University of Westminster, 1988. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.382832.

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Barhale, Koushik R. "Design and testing of a prototype gripper for a wheelchair mounted robot." [Tampa, Fla.] : University of South Florida, 2004. http://purl.fcla.edu/fcla/etd/SFE0000564.

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Gonzalez, Daniel Jesus. "A low-cost, high-strength, open-source, rapid prototypeable underactuated robot gripper." Thesis, Massachusetts Institute of Technology, 2014. http://hdl.handle.net/1721.1/92066.

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Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2014.
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 47-49).
In this work, an underactuated robot gripper was designed to meet specifications for strength, cost, and ease of manufacturing with Open-Source distribution in mind. The specifications emerged from a need for inexpensive grippers that can be used on robots that help people brace and balance. The structure and transmission of the gripper is designed to bear 150 lbs-force of static tensile and compressive loads. Gripping forces that exceed the static actuator force output are achieved by a novel method of clamping the main drive tendon by detecting dynamic overshoot and applying a self-helping cable brake, relieving the main drive actuator. The geometry, stiffness, and behavior of the gripper was designed using mathematical models and tools developed in prior art for the optimal design of underactuated hands. Apart from the actuators and waterjet machining services, the materials for the gripper can be purchased in one McMaster-Carr order. The entire structure can be cut from a single sheet of 1/16" 2024 aluminum and requires one operation on a waterjet machine, which can be found in many machine shops or through online machining services. It is the intention of the author to release the design files as Open-Source in order to allow robot researchers, engineers, and enthusiasts to use this gripper in their own work.
by Daniel Jesus Gonzalez.
S.B.
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Anderson, Ellen, and Martin Granlöf. "Get a Grip : Dynamic force adjustment in robotic gripper." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264515.

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Autonomous mobile robots are on the rise and are to be expected on the market in about 5-10 years. Several challenges need to be solved for this to happen, and the most crucial ones are to develop versatile and safe robots. The Get a Grip robot is a dynamic force adjustment gripper using inputs from two different sensory systems. The construction of the robot consists of two parallel gripper plates moved by a rack and pinion gear attached to a direct current (DC) motor. Embedded into one of the plates is a Force Sensitive Resistor (FSR) for input of the gripper’s exerted force. Mounted to the other plate is a self constructed Slip sensor used for measuring the occurrence of slip and slip rate. A surrounding crane for mounting of the gripper and lifting was also constructed. The idea of this bachelor’s thesis project is to enable lifting of objects with unknown weight without the gripper exerting more force than necessary. This is something that will be useful in both industrial applications and in household robots in the future. In order to realize the concept two different methods for calculating the gripper’s applied force were tested, one using motor current and the other using a FSR sensor. Through testing it was concluded that the FSR sensor was the method giving better accuracy and consistency. Proportional–Integral–Derivative (PID) controllers were then tested for both setting force references for the gripper using the Slip sensor as input, and controlling the exerted force in the gripper using the FSR as input. The results led to two PID controllers thought to be sufficient as starting points for further testing of the complete system.
Mobila autonoma robotar förväntas vara på marknaden inom de närmaste 5-10 åren. För att det här ska ske är det många utmaningar som behöver lösas och de mest kritiska är att utveckla mångsidiga och säkra robotar. Get a Grip-roboten är en dynamisk kraftanpassande robotklo som tar insignaler från två olika sensorsystem. Konstruktionen består av två parallella plattor som förflyttas av kuggstänger och kugghjul drivna av en DC motor. Inbyggt i en av kloplattorna finns en tryckkänslig kraftsensor (FSR) monterad för att registrera kraften som klon genererar. På den andra kloplattan sitter en egenkonstruerad glidsensor som registrerar om glidning sker och själva glidhastighet. En kran för att montera klon och lyfta den konstruerades även. Idén bakom detta kandidatexamens projektet är att klon ska kunna lyfta ett objekt med okänd vikt utan att använda mer kraft än nödvändigt. Det är något som kommer vara användbart både vid industriella tillämpningar och hos husållsrobotar i framtiden. För att realisera konceptet testades två olika metoder för att estimera kraften klon genererar, den första genom motorströmmen och den andra genom en FSR sensor. Tester genomfördes för båda metoderna och slutsatsen blev att FSR sensorn gav bäst noggrannhet och var mest konsekvent. PID-regulatorn, för bestämning av kraftreferens, med insignal från glidsensorn och PID-regulatorn, för genererad klokraft, med insignal från FSR:n testades separat. Resultatet blev två PID-regulatorer som ansågs tillräckliga för fortsätta tester med båda regulatorerna tillsammans.
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Rouleau, Michael Thomas. "Design and Evaluation of an Underactuated Robotic Gripper for Manipulation Associated with Disaster Response." Thesis, Virginia Tech, 2015. http://hdl.handle.net/10919/54567.

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The following study focuses on the design and validation of an underactuated robotic gripper built for the Tactical Hazardous Operations Robot (THOR). THOR is a humanoid robot designed for use in the DARPA Robotics Challenge (DRC) and the Shipboard Autonomous Fire Fighting Robot (SAFFiR) project, both of which pertain to completing tasks associated with disaster response. The gripper was designed to accomplish a list of specific tasks outlined by the DRC and SAFFiR project. Underactuation was utilized in the design of the gripper to keep its complexity low while acquiring the level of dexterity needed to complete the required tasks. The final gripper contains two actuators, two underactuated fingers and a fixed finger resulting in four total degrees of freedom (DOF). The gripper weighs 0.68 kg and is capable of producing up to 38 N and 62 N on its proximal and distal phalanges, respectively. The gripper was put through a series of tests to validate its performance pertaining to the specific list of tasks it was designed to complete. The results of these tests show the gripper is in fact capable of completing all the necessary actions but does so within some limitations.
Master of Science
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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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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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Books on the topic "Robot Gripper"

1

Tam, Ka-Fai. Robot gripper control using ANNs. Manchester: UMIST, 1997.

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Kelley, Robert. M68HC11 gripper controller electronics. Troy, N.Y: Center for Intelligent Robotic Systems for Space Exploration, 1991.

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Ruskin, L. S. Steps towards the systematic design of versatile robot grippers. Birmingham: University of Birmingham, 1987.

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

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

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Hesse, Stefan, Gareth J. Monkman, Ralf Steinmann, and Henrik Schunk. Robot Grippers. Wiley & Sons, Incorporated, John, 2007.

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Hesse, Stefan, Gareth J. Monkman, Ralf Steinmann, and Henrik Schunk. Robot Grippers. Wiley & Sons, Limited, John, 2007.

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Hesse, Stefan, Gareth J. Monkman, Ralf Steinmann, and Henrik Schunk. Robot Grippers. Wiley-VCH, 2007.

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

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J, Monkman Gareth, ed. Robot grippers. Weinheim: Wiley-VCH, 2007.

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Book chapters on the topic "Robot Gripper"

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Jeswiet, J., T. N. Moore, and W. Nshama. "A Robot Kinematic Gripper." In CAD/CAM Robotics and Factories of the Future, 125–31. Berlin, Heidelberg: Springer Berlin Heidelberg, 1989. http://dx.doi.org/10.1007/978-3-642-52326-7_22.

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Jeswiet, J., T. N. Moore, and W. Nshama. "A Robot Kinematic Gripper." In CAD/CAM Robotics and Factories of the Future, 125–31. Berlin, Heidelberg: Springer Berlin Heidelberg, 1989. http://dx.doi.org/10.1007/978-3-662-39962-0_22.

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Watts, Alexander E., and Constantina Lekakou. "A Robot Gripper with Sensor Skin." In Towards Autonomous Robotic Systems, 570–75. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-64107-2_46.

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Domínguez-López, J. A., R. I. Damper, R. M. Crowder, and C. J. Harris. "Intelligent Neurofuzzy Control of a Robotic Gripper." In Innovations in Robot Mobility and Control, 155–99. Berlin, Heidelberg: Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/10992388_5.

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Krenich, Stanislaw, and Andrzej Osyczka. "Optimization of Robot Gripper Parameters Using Genetic Algorithms." In Romansy 13, 139–46. Vienna: Springer Vienna, 2000. http://dx.doi.org/10.1007/978-3-7091-2498-7_14.

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Rao, Anil S. "Geometry of Parallel-Jaw Gripper Grasps in the Plane." In Advances in Robot Kinematics and Computational Geometry, 91–100. Dordrecht: Springer Netherlands, 1994. http://dx.doi.org/10.1007/978-94-015-8348-0_9.

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Sagar, Keerthi, Vishal Ramadoss, Michal Jilich, Matteo Zoppi, Dimiter Zlatanov, and Alessandro Zanella. "Development of a Reconfigurable Four-Bar Mechanism for a Human Robot Collaborative Gripper." In Advances in Robot Kinematics 2020, 311–18. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-50975-0_38.

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Tang, Bing, Rongyun Cao, Haoyu Zhao, and Xiaoping Chen. "A Grasp Strategy for Polygonal Objects Using a Honeycomb Pneumatic Network Soft Gripper." In Robot Intelligence Technology and Applications 5, 427–45. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-78452-6_35.

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Baranyi, Péter. "TP τ Transformation Based Control Design for Impedance Controlled Robot Gripper." In TP-Model Transformation-Based-Control Design Frameworks, 217–30. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-19605-3_18.

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Salunkhe, Omkar, Patrik Fager, and Åsa Fast-Berglund. "Framework for Identifying Gripper Requirements for Collaborative Robot Applications in Manufacturing." In IFIP Advances in Information and Communication Technology, 655–62. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-57993-7_74.

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Conference papers on the topic "Robot Gripper"

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Grammar, Alex W., and Robert L. Williams. "Design of a Robotic Gripper Based on a Psittacus Erithacu Beak." In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-70244.

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A high versatility, low degrees-of-freedom (DOF) gripper was designed based on avian morphology. Grasping mechanisms for robotic manipulators are often developed for application-specific tasks, such as manipulating a single part or performing a repetitive action. In contrast, more dexterous grippers are complex, multiple-DOF mechanisms. A simple, minimal-DOF, versatile gripper has been developed based on the morphology of the Psittacus Erithacu (African Grey Parrot) beak shape. This species is highly intelligent and uses its beak for digging, gripping, climbing, and foraging. Giving a robot a similar capability would allow the platform to pick up targets such as single, small seeds, liquids, large irregular rocks and soft Robocup style balls. By using the beak as a model for a grasping mechanism the design maintains its versatility without the need for a complex system and allows a large range of targets to be gripped. This gripper is intended for use in the new open-source humanoid robot DARwIn-OP.
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Cooke, Ian, Brendon DeClerck, Jesse Hallett, Tyler Miller, Alexis Mitchell, and Reza Rashidi. "A Magnetic and Shape Memory Alloy Actuated Gripper for Surgical Applications." In ASME 2019 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/imece2019-10791.

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Abstract This paper presents the development of a novel shape memory alloy (SMA) actuated gripper for use in the biomedical applications. The use of SMA in surgical forceps can allow a surgical robot to accurately and repeatedly apply a force and grip small objects or perform minor surgeries that are less invasive and allow for quicker recovery times. Current designs of thermally actuated grippers use SMAs as the gripping parts, which limits their application due to the transfer of heat to the object being gripped. The design of the gripper illustrated in this paper isolates the SMA coil from the gripping jaws to maintain a constant surface temperature at the gripping end and prevent thermal contamination of soft tissues. Isolating the SMA from the grippers also simplifies automated surgical robots by centralizing all heating elements. A magnetic field exerted between a pair of permanent magnets is used to restore the SMA coil upon cooling. The gripper housing and jaws were fabricated using a 3-D printer to allow for modeling of small features with little down time. A Nitinol SMA wire with a transition temperature of 45°C was wrapped into a 2.5mm diameter coil and heat treated to set the predefined shape. The SMA coil and other parts were assembled to form the gripper. The gripper was successfully tested using an Interlink Electronics Force Sensor and data acquisition card (DAQ), and the forces between the gripper jaws as well as the response time to close and open the jaws were recorded. The gripper produced a force of 0.9N when reaching the transition temperature. The response time for the gripper to close and open the jaws was measured to be approximately 0.16 s and 0.12 s, respectively. It was found that the magnetic field had a faster actuation on the coil than the shape memory alloy force during opening and closing jaws.
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Gutierrez, Rafael Barreto, Martin Garcia, Joan McDuffie, Courtney Long, and Ayse Tekes. "Development of Wire Actuated Monolithic Soft Gripper Positioned by Robot Manipulator." In ASME 2020 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/dscc2020-3198.

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Abstract This paper presents the design and development of a two fingered, monolithically designed compliant gripper mounted on a two-link robot. Rigid grippers traditionally designed by rigid links and joints might have low precision due to friction and backlash. The proposed gripper is designed as a single piece compliant mechanism consisted of several flexible links and actuated by wire through a servo motor. The gripper is attached to a two-link arm robot driven by three step motors. An additional servo motor can also rotate the base of the robot. While the robot is 3D printed using polylactic acid (PLA), the gripper is 3D printed in thermoplasticpolyurethane (TPU). Two force sensors are attached to the right and left ends of the gripper to measure grasping force. Experimental testing for grasping various objects having different sizes, shapes and weights is carried out to verify the robust performance of the proposed design. Through the experimentation, it’s been noted that the compliant gripper can successfully lift up objects at a maximum mass of 200 g and have a better performance if the objects’width is closer to the width of the gripper. The presented mechanism can be utilized as a service robot for elderly people to assist them pick and place objects or lift objects if equipped with necessary sensors.
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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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Marszalec, Elzbieta, and Janusz Marszalec. "Intelligent Optically Powered Robot Gripper." In 1988 Robotics Conferences, edited by Paul S. Schenker. SPIE, 1989. http://dx.doi.org/10.1117/12.948941.

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

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The paper describes a novel robot gripper for garment handling. The device has been designed, developed, prototyped, and tested within the CloPeMa European Project creating a robot system for automated manipulation of clothing and other textile items. The gripper has two degrees of freedom and includes both rigid and flexible elements. A variable-stiffness actuator has been implemented to add controlled compliance in the gripper’s operation allowing the combining of various grasping and manipulation tasks. First, we analyze the specific application-determined task requirements, focusing on the need for adaptive flexibility and the role of compliant elements in the design. The chosen solution is a simple planar mechanism, equipped with one standard and one variable-stiffness actuator. The mechanical design of the gripper, including the hydraulic system used in the biphasic actuator, is outlined, and the control architecture, using sensor feedback, is described.
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Salvietti, G., Z. Iqbal, I. Hussain, D. Prattichizzo, and M. Malvezzi. "The Co-Gripper: A Wireless Cooperative Gripper for Safe Human Robot Interaction." In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2018. http://dx.doi.org/10.1109/iros.2018.8593877.

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Nielsen, Stig Anton, and Alexandru Dancu. "Embodied computation in soft gripper." In HRI'14: ACM/IEEE International Conference on Human-Robot Interaction. New York, NY, USA: ACM, 2014. http://dx.doi.org/10.1145/2559636.2563691.

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Derby, Stephen. "Workcell Based Robot Design Methodologies." In ASME 1998 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1998. http://dx.doi.org/10.1115/detc98/mech-5997.

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Abstract This paper details a set of methodologies to design a robot based on an existing workcell that would be difficult or costly to modify. Standard robot bases, as well as tracked robots, are located to minimize the error of the desired taught robot gripper positions. Error levels are established based on the angle of the misalignment and the length of the required loading or unloading motion. A computer program was written to implement these methods.
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Reports on the topic "Robot Gripper"

1

Bostelman, Roger. Electrical design of the infraredultrasonic sensing for a robot gripper. Gaithersburg, MD: National Institute of Standards and Technology, 1989. http://dx.doi.org/10.6028/nist.ir.89-4223.

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