Journal articles: '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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Prakash, J., and M. Ilangkumaran. "An investigation of various actuation mechanisms in robot arm." Measurement and Control 52, no. 9-10 (September 9, 2019): 1299–307. http://dx.doi.org/10.1177/0020294019866854.

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Many research activities have been carried out to develop a simple mechanism for grasping irregular object shapes using two- or three-fingered robot end effectors. The idea behind this work is to develop three-fingered intelligent grippers that are capable of sensing different factors like weight, effort required, compactness, robustness, and stability of the object held during the manipulations. In this paper, five different actuation mechanisms, namely, edge-cam-operated actuation mechanism, toggle-linkage-based actuation mechanism, wedge-cam-operated gripper, sliding slotted pin–ball joint arrangement, and rack-and-pinion-operated four-bar linkage mechanism, are introduced. The actuation and grasping force of the gripper are to be determined using the analytical approach (static force analysis). Finally, the effective intelligent gripper mechanism is identified based on grasping force for grasping 1 kg weight of a prespecified object.

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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.

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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.

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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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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.

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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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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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Pham, D. T., and M. J. Nategh. "Optimum design of gripper jaws for tapered components." Robotica 8, no. 3 (July 1990): 223–30. http://dx.doi.org/10.1017/s0263574700000084.

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SUMMARYFor ease of manufacture, axisymmetric components produced by processes such as forging, casting and moulding are often designed with a taper angle. This paper presents a family of devices for handling such components by their tapered portion. The devices are essentially finger tips, or jaws, to be fitted to standard scissor-type robot grippers. The jaws possess a three-dimensional profile constructed as a stack of v-shaped planar curves. The special jaw profile enables components of different diameters and taper angles to be gripped concentrically without calling for complex movements to reposition the gripper. The equations describing two categories of profile are derived and the optimum selection of profile parameters to yield compact jaws to grip components of a wide range of dimensions is discussed in the paper.

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Lim, Sun, Hak Sang Jung, Seung Yong Lee, Young Woo Park, and Il Kyun Jung. "IT Assembly Process Gripper Real-Time Embedded System Design." Applied Mechanics and Materials 865 (June 2017): 463–67. http://dx.doi.org/10.4028/www.scientific.net/amm.865.463.

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In this paper we propose the gripper handle real-time based embedded system for operating robot manipulator. The general gripper has only a simple function and has also I/O module. Thus general gripper and position based robot controller combination is not suitable for precision process operation, IT assembly process. In order to give various functions and intelligence to the gripper, it is necessary to have an embedded controller that real-time guarantees. The proposed embedded system have five component that handle the pose of the gripper, measure the pose and translation of gripper, motoring the gripping tip, operate the stiffness of the gripper and communicate with Ethernet interface to the external robot controller. The external robot interface parts are supported to communicate with various external robot maker, KUKA, DENSO, ROBOSTAR etc. The validation and functional ability is tested on the LAB environment.

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Uemura, Mitsunori, Yuki Mitabe, and Sadao Kawamura. "Simultaneous gravity and gripping force compensation mechanism for lightweight hand-arm robot with low-reduction reducer." Robotica 37, no. 6 (January 14, 2019): 1090–103. http://dx.doi.org/10.1017/s0263574718001479.

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SummaryIn this paper, we propose a novel mechanism to compensate for gravity and the gripping force in a hand-arm robot. This mechanism compensates for the gravitational torque produced by an object gripped by the hand-arm robot. The gripping force required for the robot hand to prevent the object from dropping is also simultaneously compensated for. This mechanism requires only one actuator placed on the shoulder part of the robot. Therefore, this mechanism can reduce the torque requirement of joint actuators and lower the weight of the robot. The gear ratio of the reduction gears in each robot joint can then also be reduced. These advantages are critical for future robots that perform tasks in unstructured environments and collaborate with humans. We carried out experiments with a 6-DoF robot arm having a 1-DoF gripper to demonstrate the effectiveness of the proposed mechanism.

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Yao, Jianjun, Shuang Gao, Guilin Jiang, Thomas L. Hill, Han Yu, and Dong Shao. "Screw theory based motion analysis for an inchworm-like climbing robot." Robotica 33, no. 08 (April 29, 2014): 1704–17. http://dx.doi.org/10.1017/s0263574714001003.

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SUMMARYTo obtain better performance on unstructured environments, such as in agriculture, forestry, and high-altitude operations, more and more researchers and engineers incline to study classes of biologically inspired robots. Since the natural inchworm can move well in various types of terrain, inchworm-like robots can exhibit excellent mobility. This paper describes a novel inchworm-type robot with simple structure developed for the application for climbing on trees or poles with a certain range of diameters. Modularization is adopted in the robot configuration. The robot is a serial mechanism connected by four joint modules and two grippers located at the front and rear end, respectively. Each joint is driven by servos, and each gripper is controlled by a linear motor. The simplified mechanism model is established, and then is used for its kinematic analysis based on screw theory. The dynamics of the robot are also analyzed by using Lagrange equations. The simulation of the robot gait imitating the locomotion of real inchworm is finally presented.

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Bergelin, B., B. Slaboch, J. Sun, and P. A. Voglewede. "A handy new design paradigm." Mechanical Sciences 2, no. 1 (February 8, 2011): 59–64. http://dx.doi.org/10.5194/ms-2-59-2011.

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Abstract. In light of technological advances, researchers have lost sight of robotic grippers/end effectors design intent. In a semi-structured environment the biomimetic approach is impractical due to the high complexity of the mechanism and control algorithms. Current industrial grippers are robust, but lack the flexibility that allows for in hand manipulation. The authors believe that underactuated grippers provide the best approach to allow for in hand manipulation along with being rugged enough for an industrial setting. Thinking of the robotic gripper and the robotic arm as one system (as opposed to two separate subsystems), one is capable of using the degrees of freedom of the robot in conjunction with that of the gripper to provide the desired motion profile without the complexity of running two subsystems. This paper will outline where recent grippers have failed and will introduce a new design paradigm for grippers along with several underactuated gripper ideas. This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010), 19 August 2010, Montréal, Canada.

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Jitariu, Sebastian, and Ionel Staretu. "Gripper with Average Continuous Reconfigurability for Industrial Robots." Applied Mechanics and Materials 811 (November 2015): 279–83. http://dx.doi.org/10.4028/www.scientific.net/amm.811.279.

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

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Ballesteros, Joaquin, Francisco Pastor, Jesús M. Gómez-de-Gabriel, Juan M. Gandarias, Alfonso J. García-Cerezo, and Cristina Urdiales. "Proprioceptive Estimation of Forces Using Underactuated Fingers for Robot-Initiated pHRI." Sensors 20, no. 10 (May 18, 2020): 2863. http://dx.doi.org/10.3390/s20102863.

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In physical Human–Robot Interaction (pHRI), forces exerted by humans need to be estimated to accommodate robot commands to human constraints, preferences, and needs. This paper presents a method for the estimation of the interaction forces between a human and a robot using a gripper with proprioceptive sensing. Specifically, we measure forces exerted by a human limb grabbed by an underactuated gripper in a frontal plane using only the gripper’s own sensors. This is achieved via a regression method, trained with experimental data from the values of the phalanx angles and actuator signals. The proposed method is intended for adaptive shared control in limb manipulation. Although adding force sensors provides better performance, the results obtained are accurate enough for this application. This approach requires no additional hardware: it relies uniquely on the gripper motor feedback—current, position and torque—and joint angles. Also, it is computationally cheap, so processing times are low enough to allow continuous human-adapted pHRI for shared control.

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Fiorillo, A. S., P. Dario, and M. Bergamasco. "A sensorized robot gripper." Robotics and Autonomous Systems 4, no. 1 (March 1988): 49–55. http://dx.doi.org/10.1016/0921-8890(88)90009-7.

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Suganuma, Shinichi, Masaru Ogata, Kensuke Takita, and Shigeo Hirose. "Development of Detachable Teleoperation Gripper for a Walking Robot." Journal of Robotics and Mechatronics 15, no. 5 (October 20, 2003): 501–7. http://dx.doi.org/10.20965/jrm.2003.p0501.

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We developed an inexpensive, robust Shape Feedback Master Slave (M-S) arm for use with the demining robot TITAN-IX. Conventional M-S arms, while important elements of such systems, are difficult to use in unpredictable environments such as minefields due to the largely unknown control parameters. The shape-feedback M-S gripper, called SPADE GRIPPER, used for detecting and removing landmines, consists of 3 unilateral position controls without bilateral force control and works stably in environments where control parameters may be unclear. We confirmed the feasibility of the gripper's mechanical design and operating principles through a series of experiments.

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Liu, Lei, Dong Rong Qiu, and Ju Guang Lin. "The Optimized Design of the Welding Gripper for the Body Pre-Assembly." Advanced Materials Research 756-759 (September 2013): 233–36. http://dx.doi.org/10.4028/www.scientific.net/amr.756-759.233.

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In order to improve the efficiency of welding, the automotive body pre-assembly was implemented in an automatic welding line. The author designed a robot welding gripper for the pre-assembly station, and simulated the motion of cylinder on each unit by using the CATIA DMU module to inspect the interferences and optimize the structure. The practical application indicated this robot gripper could make good use of the high-accuracy and the flexibility of robots to handle workpiece accurately and assemble quickly.

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Suebsomran, Anan. "Design and compliant estimate of robot gripper with light-emitting diode and photodiode positioning." Measurement and Control 52, no. 9-10 (September 30, 2019): 1319–28. http://dx.doi.org/10.1177/0020294019866850.

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Generally, robot gripper is the tool to enhancing the efficiency and ability of grasping task of robot manipulator. The interaction between the object and the grasping finger is the main target of robotic gripper design stage. For this research, robot gripper is then proposed as the new method of robot gripper force control using real-time estimate force feedback signal in order to achieve higher performance of grasping objects. Robot gripper kinematics is also analyzed and adjusted to more practical development. The object manipulation is also identifiable using recursive least square estimation technique of both hard and soft objects during grasping. Force controller of robot gripper is obtained using real-time estimate force feedback signal by the recursive least square method. Comparison of proportional–integral–derivative controller gains is tuned with different force feedback signals, normal force feedback, and estimate force feedback during grasping hard and soft objects validated by experiment. The results of design and development are illustrated by simulation and experimental methods. In addition, due to the limitation of electromagnetic interference, signals will not affect other instrumentations with restricted working condition. The range of gripper motion is detected by applied visible light signal of light-emitting diode and photodiode as limit sensors.

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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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Crooks, Whitney, Shane Rozen-Levy, Barry Trimmer, Chris Rogers, and William Messner. "Passive gripper inspired by Manduca sexta and the Fin Ray® Effect." International Journal of Advanced Robotic Systems 14, no. 4 (July 1, 2017): 172988141772115. http://dx.doi.org/10.1177/1729881417721155.

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Soft robotic grippers are advantageous for tasks in which a robot comes into close contact with a human, must handle a delicate object, or needs to conform to an object. Most soft robotic grippers, like their hard counterparts, require actuation to maintain a grip on an object. Here, we present a passive, soft robotic gripper that requires power to open and close but not to maintain a grip, which can be problematic in environments with limited energy availability (e.g. solar or battery power). Passive grip, by not requiring power to maintain grip on an object, provides a unique and safe alternative to energy-limited or energy-scarce environments. The Tufts Passive Gripper was inspired by the passive grip of the Manduca sexta and the simplicity of the Fin Ray® Effect. The gripper can be three-dimensional printed as one part on a multimaterial three-dimensional printer and only requires four additional steps to install the motor/tendon actuation mechanism. The gripper was capable of picking up over 40 common household objects, including a tissue, a pen, silverware, a needle, a stapler, a cup, and so on. The maximum load a gripper could hold when oriented perpendicular and parallel to the ground was 530 g (1 lb) and 240 g (0.5 lb), respectively.

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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.

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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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Li, Qun Ming, Qing Hua Qin, Shi Wei Zhang, and Hua Deng. "Optimal Design for Heavy Forging Robot Grippers." Applied Mechanics and Materials 44-47 (December 2010): 743–47. http://dx.doi.org/10.4028/www.scientific.net/amm.44-47.743.

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This paper analyzes three typical mechanisms of heavy forging robot grippers: pulling with a sliding block including short- and long-leveraged grippers and pushing leveraged grippers, and uses multi-objective evolutionary genetic algorithm to design the optimal forging robot grippers. The decision variables are defined according to the geometrical dimensions of the heavy grippers, and four objective functions are defined according to gripping forces and force transmission relationships between the joints, and the constraints are yielded by the physical conditions and the structure of the grippers. Elitist Non-dominated Sorting Genetic Algorithm (NSGA-II) is used to solve the optimization problem. Normalized weighting objective functions are used to select the best optimal solution from Pareto optimal fronts. The Pareto fronts and optimal results are compared and analyzed. An optimal model of forging robot gripper is designed. The results show the effectiveness of the optimal design. Based on similarity theory, optimum dimensions from small scale forging grippers to large scale ones can be designed, and from model to prototype experiment to test the physical features is possible.

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Zhang, Juan, Wenrong Wu, and Lie Bi. "An automatic approach and grip method of micro-particle in 3D space." International Journal of Modern Physics B 31, no. 07 (March 19, 2017): 1741013. http://dx.doi.org/10.1142/s0217979217410132.

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Micro-particle is hard to be observed as small scale and hard to be gripped as micro-force from substrate, an automatic approach and grip method of micro-particle in the guide of microscopic vision systems is proposed in the paper to grip micro-particle. First, the micro-gripper driven by electrostatic force is introduced and forces in gripping process are analyzed. Second, a micro-assembly robot composed of two microscopic vision systems is established to monitor micro-operation process and to operate micro-particle. Image features of micro-particle and micro-gripper end-effector are extracted by image feature extraction method to calculate relative position of micro-particle and micro-gripper in image space. Last, a movement control strategy in 3D space based on image Jacobian matrix is studied to control micro-gripper approach and align with micro-particle. Experimental results verified the effectiveness of proposed methods.

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Sahari, Khairul Salleh Mohamed, Hiroaki Seki, Yoshitsugu Kamiya, and Masatoshi Hikizu. "Passive Edge Tracing of Deformable Object by Robot." Journal of Robotics and Mechatronics 23, no. 3 (June 20, 2011): 458–61. http://dx.doi.org/10.20965/jrm.2011.p0458.

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Usage of active tracing method to find a second corner has been proven to be efficient in finding a second corner next to the first found corner. Passive tracing is a method where the tracing gripper is static while another gripper holding the first corner maneuvers according to the feedback from sensors inside the static gripper so that it pulls the clothes appropriately for the static gripper, with adequate force control, to trace the edge of the clothes. Vision sensor is used from time to time to check whether the static gripper has reached the second corner or not.

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Carpenter, Ryan, Ross Hatton, and Ravi Balasubramanian. "Evaluation of linear and revolute underactuated grippers for steel foundry operations." Industrial Robot: An International Journal 42, no. 4 (June 15, 2015): 314–23. http://dx.doi.org/10.1108/ir-01-2015-0004.

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Purpose – The purpose of this paper is to develop an automated industrial robotic system for handling steel castings of various sizes and shapes in a foundry. Design/methodology/approach – The authors first designed a prismatic gripper for pick-and-place operations that incorporates underactuated passive hydraulic contact (PHC) phalanges that enable the gripper to easily adapt to different casting shapes. The authors then optimized the gripper parameters and compared it to an adaptive revolute gripper using two methods: a planar physics based quasistatic simulation that accounts for object dynamics and validation using physical prototypes on a physical robot. Findings – Through simulation, the authors found that an optimized PHC gripper improves grasp performance by 12 per cent when compared to an human-chosen PHC configuration and 60 per cent when compared to the BarrettHand™. Physical testing validated this finding with an improvement of 11 per cent and 280 per cent, respectively. Originality/value – This paper presents for the first time optimized prismatic grippers which passively adapt to an object shape in grasping tasks.

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Li, Qun Ming, Qing Hua Qin, and Hua Deng. "Analysis and Comparison of Contact Forces between the Constrained Tongs and the Under-Constrained Tongs." Advanced Materials Research 139-141 (October 2010): 2326–30. http://dx.doi.org/10.4028/www.scientific.net/amr.139-141.2326.

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A comparison of contact forces between the constrained gripper and the under-constrained gripper to grip the same work-piece is analyzed. The new type heavy forging grippers with constrained rods are designed to improve the contact status. The main difference between the new grippers with constrained tongs and the traditional grippers with under-constrained tongs is that the constrained gripper has constrained rods to keep the two tongs parallel. A gripping model has been presented in which the gripping operation is equivalent to the grasp of multi-fingered robot hands with friction contact point model. The models for calculating contact forces with constrained tongs and under-constrained tongs are presented with different constraint functions based on gradient flow optimization algorithms, and the constraint functions describe the definite state of the tongs during forging operation. By comparing the simulation and experiment results of the contact and gripping forces, it shows that the contact forces are different when the gripping in different rotation angles and the contact forces with constrained tongs is much smaller than that with under-constrained tongs, especially in the vertical position.

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Brown, M. K. "A Controlled Impedance Robot Gripper." AT&T Technical Journal 64, no. 4 (April 1985): 937–69. http://dx.doi.org/10.1002/j.1538-7305.1985.tb00021.x.

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Kolpashnikov, S. N., and I. B. Chelpanov. "Goals of robot gripper mechanics." Mechanism and Machine Theory 22, no. 5 (January 1987): 481–87. http://dx.doi.org/10.1016/0094-114x(87)90065-6.

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lida, H., H. Hozumi, and R. Nakayama. "Development of Ladder Climbing Robot LCR-1." Journal of Robotics and Mechatronics 1, no. 4 (December 20, 1989): 311–16. http://dx.doi.org/10.20965/jrm.1989.p0311.

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A new mobile robot has been developed, which is capable of ascending and descending vertical ladders such as those used in nuclear power plants and other facilities. The Ladder Climbing Robot releases personnel from dangerous and laborious work at high elevations. The body of the robot has four grippers which grip each rung of the ladder as it ascends or descends. Each gripper is able to move up, down, forward or backward, and has two kinds of sensors to detect a rung: one photoelectric-switch and one limit-switch. The robot can operate automatically or be remote controlled. Three of the grippers are continuously in contact with the ladder rungs to prevent falling. As a result of experiment, it has been confirmed that in trials the prototype model LCR-1 with a built-in microcomputer can ascend and descend an actual vertical ladder automatically.

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Zbroja, Piotr, Ksawery Szykiedans, and Wojciech Credo. "Flexible grippers for industrial robots – comparison of features of low-cost 3D printed component." MATEC Web of Conferences 254 (2019): 02020. http://dx.doi.org/10.1051/matecconf/201925402020.

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

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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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Hendriko, Hendriko, Beril Linggar Sukses, and Roni Novison. "Pengembangan Robot Pemanjat Tiang Otomatis." Jurnal Elektro dan Mesin Terapan 5, no. 1 (2019): 1–8. http://dx.doi.org/10.35143/elementer.v5i1.2650.

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Robot merupakan salah satu alternatif terbaik untuk mengatasi berbagai permasalahan manusia, diantaranya adalah untuk menggantikan peran manusia dalam melakukan pekerjaan yang berbahaya. Dalam penelitian ini dikembangkan robot pemanjat tiang otomatis. Robot yang dikembangkan tidak hanya sekedar mampu memanjat tiang, namun juga mampu berjalan di lantai menggunakan roda. Robot ini memiliki dua buah roda penggerak dan satu buah roda bebas. Selain itu robot juga dilengkapi dengan fitur image processing dengan menggunakan sensor kamera sehinga robot dapat mendeteksi posisi tiang. Prinsip kerja robot adalah robot mendeteksi keberadaan tiang yang telah diberi tanda warna merah. Selanjutnya jika posisi tiang terdeteksi maka robot berjalan menuju ke arah tiang. Setelah robot sampai ke depan tiang maka gripper robot akan bekerja untuk melakukan fungsi memanjat. Robot ini memilki dua buah gripper yang berfungsi untuk mencekam tiang pada saat memanjat. Gripper akan digerakan oleh motor DC yang bergerak secara bergantian sehingga robot dapat memanjat. Dari hasil pengujian diperoleh data bahwa kecepatan rata-rata robot robot berjalan di lantai adalah 13,17 cm/s. Sedangkan kecepatan rata-rata robot memanjat tiang adalah 0,835 cm/s. Sehingga dapat disimpulkan bahwa secara umum robot mampu melakukan tugasnya dengan sangat baik.

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Li, Qun Ming, Qing Hua Qin, and Shi Wei Zhang. "Force Closure Analysis for an Underactuated Robot Gripper." Applied Mechanics and Materials 44-47 (December 2010): 738–42. http://dx.doi.org/10.4028/www.scientific.net/amm.44-47.738.

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The force closure properties of the underactuated forging robot grippers are analyzed. The gripping contact forces distributed between the interface of the tongs and the work-piece are considered as an equivalent resultant force whose contact model is friction point contact, and must meet force closure equations. Then the operation theory of N robot fingers to grasp an object can be used for the analysis of the force closure and the calculation of contact forces. Based on the configurations of heavy duty grippers, where the position distribution of the resultant contact forces is optimized, the iterative algorithm of linear constrained gradient flows is used to optimize the contact forces and calculate the gripping force. The force closure properties for different forging robots and in different operation conditions and mechanisms are analyzed. Simulation and experimental results demonstrate the effectiveness of the optimization method.

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Park, JoungMin, SangYoon Lee, JaeWoon Lee, and Jumyung Um. "GadgetArm—Automatic Grasp Generation and Manipulation of 4-DOF Robot Arm for Arbitrary Objects Through Reinforcement Learning." Sensors 20, no. 21 (October 30, 2020): 6183. http://dx.doi.org/10.3390/s20216183.

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Automatic robot gripper system which involves the automated object recognition of work-in-process in production line is the key technology of the upcoming manufacturing facility achieving Industry 4.0. Automatic robot gripper enables the manufacturing system to be autonomous, self-recognized, and adaptable by using artificial intelligence of robot programming dealing with arbitrary shapes of work-in-processes. This paper specifically explores the chain of key technologies, such as 3D object recognition with CAD and point cloud data, reinforcement learning of robot arm, and customized 3D printed gripper, in order to enhance the intelligence of the robot controller system. And it also proposes the integration with 3D point cloud based object recognition and game-engine based reinforcement learning. The result of the prototype of the intelligent robot gripping system developed by the proposed method with a 4 degree-of-freedom robot arm is explained in this paper.

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Nechyporenko, Nataliya, Antonio Morales, Enric Cervera, and Angel P. del Pobil. "A Practical Approach for Picking Items in an Online Shopping Warehouse." Applied Sciences 11, no. 13 (June 23, 2021): 5805. http://dx.doi.org/10.3390/app11135805.

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Commercially viable automated picking in unstructured environments by a robot arm remains a difficult challenge. The problem of robot grasp planning has long been around but the existing solutions tend to be limited when it comes to deploy them in open-ended realistic scenarios. Practical picking systems are called for that can handle the different properties of the objects to be manipulated, as well as the problems arising from occlusions and constrained accessibility. This paper presents a practical solution to the problem of robot picking in an online shopping warehouse by means of a novel approach that integrates a carefully selected method with a new strategy, the centroid normal approach (CNA), on a cost-effective dual-arm robotic system with two grippers specifically designed for this purpose: a two-finger gripper and a vacuum gripper. Objects identified in the scene point cloud are matched to the grasping techniques and grippers to maximize success. Extensive experimentation provides clues as to what are the reasons for success and failure. We chose as benchmark the scenario proposed by the 2017 Amazon Robotics Challenge, since it represents a realistic description of a retail shopping warehouse case; it includes many challenging constraints, such as a wide variety of different product items with a diversity of properties, which are also presented with restricted visibility and accessibility.

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Yin, Jian Jun, Chun Xie, Chuan Yu Wu, S. Mittal Gauri, and Simon X. Yang. "Quick Motion Path Plan for Joint-Robot to Pick Tomato under Free-Obstacle." Applied Mechanics and Materials 229-231 (November 2012): 2225–28. http://dx.doi.org/10.4028/www.scientific.net/amm.229-231.2225.

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To improve the efficiency of picking the fruit, a kind of quick motion path plan method for fruit-picking robot under free-obstacle was proposed in this paper. Firstly, the method obtained a series of points along straight path at equal internal, and the gripper center was designed to pass thorough these points. Inverse kinematics formulas of the robot arm were used to solve joint angles of the robot arm when the gripper center will pass thorough each point. To make the robot arm guide the gripper to reach quickly the object point, the joint angles were optimized to determinate according to the principle of energy optimization. The test of picking tomato showed that the method can both reproduce the motion of the gripper along linear points at constant speed and keep the shortest motion path, which are benefit to grip the fruit steadily. The method has a low amount of calculation, better real-time and may provide a reference for joint robot to pick the fruit quickly.

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Urbonas, Klaidas, Sergejus Rimovskis, and Arturas Sabaliauskas. "Analysis of Strength of VDA 4500 Type Container Palletizing Robot Manipulator Gripper." Jaunųjų mokslininkų darbai 51, no. 1 (August 31, 2021): 111–19. http://dx.doi.org/10.15388/jmd.2021.11.

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An analysis of the company's existing palletizing process has been performed, and the most appropriate method of process modernization has been selected accordingly. Also, a robot was selected according to the type of container to be palletized and its weight. A prototype of a robot manipulator gripper has been designed. The load calculation of the gripper levers was performed, the pneumatic cylinders for the lever control were selected. Lever strength analysis was also performed. The gripper mass was determined.

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Biswal, Bibhuti Bhusan, P. K. Parida, and K. C. Pati. "Kinematic Analysis of a Dexterous Hand." Advanced Materials Research 433-440 (January 2012): 754–62. http://dx.doi.org/10.4028/www.scientific.net/amr.433-440.754.

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Handling of objects with irregular shapes and that of flexible/soft objects by ordinary robot grippers is difficult. Multi fingered gripper may be a solution to such handling tasks. However, dexterous grippers will be the appropriate solution to such problems. Although it is possible to develop robotic hands which can be very closely mapped to human hands, it is sometimes not to be done due to control, manufacturing and economic reasons. The present work aims at designing and developing a dexterous robotic hand for manipulation of objects.

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Vilău, Cristian, Nicolae Bâlc, and Dan Leordean. "Design and Analyses to Determine the Minimum Acting Force of a Gripper for Handling the Parts with Robots." Applied Mechanics and Materials 808 (November 2015): 264–70. http://dx.doi.org/10.4028/www.scientific.net/amm.808.264.

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This paper presents a model of gripper designed for KUKA robot, together with a series of static and dynamic analyses for different loadings of it. Both the 3D design and static and dynamic analyses have been conducted using the design of Creo package with Parametric and Simulate the modules. The Gripper designed has in its composition a mechanism type rack-pinion type and a quadrilateral mechanism, for carrying out a parallel movement of jaw. It was determined the minimum force of actuation of the pinion-rack mechanism of gripper for maintaining the piece caught in gripper jaws, at the maximum speeds of rotation of the robot.

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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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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.

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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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Shintani, Momonosuke, Yuta Fukui, Kosuke Morioka, Kenji Ishihata, Satoshi Iwaki, Tetsushi Ikeda, and Tim C. Lüth. "Object Grasping Instructions to Support Robot by Laser Beam One Drag Operations." Journal of Robotics and Mechatronics 33, no. 4 (August 20, 2021): 756–67. http://dx.doi.org/10.20965/jrm.2021.p0756.

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We propose a system in which users can intuitively instruct the robot gripper’s positions and attitudes simply by tracing the object’s grasp part surface with one stroke (one drag) of the laser beam. The proposed system makes use of the “real world clicker (RWC)” we have developed earlier, a system capable of obtaining with high accuracy the three-dimensional coordinate values of laser spots on a real object by mouse-operating the time-of-flight (TOF) laser sensor installed on the pan-tilt actuator. The grasping point is specified as the centroid of the grasp part’s plane region by the laser drag trajectory. The gripper attitude is specified by selecting the left and right drag modes that correspond to the PC mouse’s left and right click buttons. By doing so, we realize a grasping instruction interface where users can take into account various physical conditions for the objects, environments, and grippers. We experimentally evaluated the proposed system by measuring the grasping instruction time of multiple test subjects for various daily use items.

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Journal articles on the topic 'Robot Gripper'

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