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Pneumatic Muscle-Actuated Adjustable Compliant Gripper System for Assembly Operations

Tudor Deaconescu, Andrea Deaconescu
2017 Strojniski vestnik  
Highlights • An adjustable compliant gripper system for assembling robots is proposed. • The utilised motor, namely the pneumatic muscle, benefits from adjustable compliance and can adapt its operational  ...  The construction of this gripper system is based on a linear pneumatic muscle used as the actuator and the transmission of motion by gear-and-rack mechanisms.  ...  Force measurement developed by one jaw The graphs reveal a strong hysteresis type behaviour of the developed force.  ... 
doi:10.5545/sv-jme.2016.4239 fatcat:zkn7zuzlxrbq5azg27djimngpi

Input Displacement Neuro-fuzzy Control and Object Recognition by Compliant Multi-fingered Passively Adaptive Robotic Gripper

Dalibor Petković, Shahaboddin Shamshirband, Nor Badrul Anuar, Aznul Qalid Md Sabri, Zulkanain Bin Abdul Rahman, Nenad D. Pavlović
2015 Journal of Intelligent and Robotic Systems  
Here, an adaptive neuro fuzzy inference system (ANFIS) for controlling input displacement and object recognition of a new adaptive compliant gripper is presented.  ...  The requirement for new flexible adaptive grippers is the ability to detect and recognize objects in their environments.  ...  Acknowledgments This work also funded by the University of Malaya, Malaysia, under grant RP005A-13ICT.  ... 
doi:10.1007/s10846-015-0182-6 fatcat:n77idb5etzgg3ign7sqlngpdtu

Soft Robotic Grippers

Jun Shintake, Vito Cacucciolo, Dario Floreano, Herbert Shea
2018 Advanced Materials  
Acknowledgements This work was supported in part by the Swiss National Centre of Competence in Research (NCCR) Robotics, the FLAG ERA RoboCom++ project, and the Hasler Foundation.  ...  Passive Structure with External Motors Soft grasping can be achieved by compliant structures that are moved by external electromagnetic motors and passively adapt to the shape of the object.  ...  This progress has been made possible both by new concepts and by the improved understanding and development of compliant and active materials.  ... 
doi:10.1002/adma.201707035 pmid:29736928 fatcat:ysjvdzllnneirolc6hmkxc5k2e

Method for designing and controlling compliant gripper

A R Spanu, D Besnea, M Avram, R Ciobanu
2016 IOP Conference Series: Materials Science and Engineering  
The spatial trajectories of the elements become a must, due to the development of MEMS.  ...  The compliant grippers are useful for high accuracy grasping of small objects with adaptive control of contact points along the active surfaces of the fingers.  ...  Due to the recent development of MEMS a new research direction has been developed with the main goal of designing the grippers with spatial movement of the end -effector element.  ... 
doi:10.1088/1757-899x/147/1/012046 fatcat:sxht3nbp4vcdnhorqtzgs5auni

Special issue on autonomous grasping and manipulation

Heni Ben Amor, Ashutosh Saxena, Nicolas Hudson, Jan Peters
2013 Autonomous Robots  
Another type of robot grippers is presented in the paper "A Compliant Self-Adaptive Gripper with Proprioceptive Haptic Feedback" by Belizle et al.  ...  The paper "Design and Control of a Three-Fingered Tendon-Driven Robotic Hand with Active and Passive Tendons" by Ozawa et al. presents a new three-fingered robotic hand and a set of corresponding controllers  ...  Hagen in Germany, at the National University of Singapore (NUS) and the University of Southern California (USC) as well as a Computer Science Ph.D. from USC.  ... 
doi:10.1007/s10514-013-9379-3 fatcat:lkfqumgvrvenfjbvkihtkvpp3q

Force control for a 3-Finger Adaptive Robot Gripper by using PID controller

Amirul Syafiq Sadun, Jamaludin Jalani, Jumadi Abdul Sukor, Faizal Jamil
2016 2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)  
In particular, this paper establishes a direct force control for a 3-Finger Adaptive Robot Gripper by using a PID control.  ...  A series of grasping tests were performed to observe the performance of PID control.  ...  ACKNOWLEDGMENT This topic is part of a project funded by the Fundamental Research Grant Scheme (FRGS), Vote 1480.  ... 
doi:10.1109/roma.2016.7847807 fatcat:aox5zgjnpjganie3igxup2xjcu

SIMBA: Tendon-Driven Modular Continuum Arm with Soft Reconfigurable Gripper

Anand Kumar Mishra, Emanuela Del Dottore, Ali Sadeghi, Alessio Mondini, Barbara Mazzolai
2017 Frontiers in Robotics and AI  
In this paper, we describe the conceptual design and implementation of the Soft Compliant Manipulator for Broad Applications (SIMBA) manipulator, which is designed and developed for participating in the  ...  In our novel design, we have proposed (1) a modular continuum arm with independent actuation units for each module, to increase maintainability; (2) a soft reconfigurable hand, for a better adaptation  ...  This passive deformation is an advantage not only for the adaptation of different shapes of the objects but also for reducing the control complexity on the grasping task.  ... 
doi:10.3389/frobt.2017.00004 fatcat:npyqhihgijd6vih2cnehogupcu

On Alternative Uses of Structural Compliance for the Development of Adaptive Robot Grippers and Hands

Che-Ming Chang, Lucas Gerez, Nathan Elangovan, Agisilaos Zisimatos, Minas Liarokapis
2019 Frontiers in Neurorobotics  
In this paper, we present a series of alternative uses of structural compliance for the development of simple, adaptive, compliant and/or under-actuated robot grippers and hands that can efficiently and  ...  More specifically, in this work, we introduce, discuss, and evaluate: (a) a design of pre-shaped, compliant robot fingers that adapts/conforms to the object geometry, (b) a hyper-adaptive finger-pad design  ...  Two types of gripper base were used in this paper, a simple parallel gripper and a hyper adaptive gripper.  ... 
doi:10.3389/fnbot.2019.00091 pmid:31787889 pmcid:PMC6854005 fatcat:374h2cdi7zbjtgrqoitmz3acku

Dielectric Elastomer Actuator for Soft Robotics Applications and Challenges

Youn, Jeong, Hwang, Kim, Hyeon, Park, Kyung
2020 Applied Sciences  
This paper reviews state-of-the-art dielectric elastomer actuators (DEAs) and their future perspectives as soft actuators which have recently been considered as a key power generation component for soft  ...  This paper begins with the introduction of the working principle of the dielectric elastomer actuators.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/app10020640 fatcat:n7d6y6xq3va3xbdvko6uhybpwq

Versatile Soft Grippers with Intrinsic Electroadhesion Based on Multifunctional Polymer Actuators

Jun Shintake, Samuel Rosset, Bryan Schubert, Dario Floreano, Herbert Shea
2015 Advanced Materials  
This work was supported by the Swiss National Centre of Competence in Research (NCCR) Robotics, and the Swiss National Science Foundation grant 200020-153122. [1] A. Bicchi, IEEE Trans. Robot.  ...  A. Araromi, S. Mintchev, S. Chakraborty, J. E. Auerbach, and D. G. Courtney for their helpful comments and discussions.  ...  (a) The gripper consists of a pre-stretched elastomer membrane with patterned compliant electrodes laminated between two passive silicone layers.  ... 
doi:10.1002/adma.201504264 pmid:26551665 fatcat:6pxfayjbobed7a3wwkjdhlirj4

A Soft-Rigid Hybrid Gripper with Lateral Compliance and Dexterous In-hand Manipulation [article]

Wenpei Zhu, Chenghua Lu, Qule Zheng, Zhonggui Fang, Haichuan Che, Kailuan Tang, Mingchao Zhu, Sicong Liu, Zheng Wang
2021 arXiv   pre-print
It was shown that adding the MCP complexity was critical in enabling a range of novel features in the hybrid gripper, including in-hand manipulation, lateral passive compliance, as well as new control  ...  Hybrid gripper (soft actuators enhanced by rigid constraints) is a new trend in soft gripper design.  ...  ACKNOWLEDGEMENT The authors want like to thank Mr Kehan Zou for his help in setting up hardware of control device, and Ms Yu Cheng for casting the silicone layer of the gripper.  ... 
arXiv:2110.10035v1 fatcat:ekuq6pkzmngcbb7vekg3sea6na

Handling Hazardous Part Variety: Metalcasting as a Case Point

R.S. Wadhwa
2014 Procedia CIRP  
Four versions of grippers developed and implemented for handling cast part variety at the case company have been presented.  ...  assembly lines which are capable of handling a wide variety of parts in small to medium volume and variety.  ...  common type of gripper in use.  ... 
doi:10.1016/j.procir.2014.02.030 fatcat:bukfw3uhvvgthhyosfq2txnuce

Soft Grippers for Automatic Crop Harvesting: A Review

Eduardo Navas, Roemi Fernández, Delia Sepúlveda, Manuel Armada, Pablo Gonzalez-de-Santos
2021 Sensors  
Therefore, this review intends to serve as a guide for those researchers working in the field of soft robotics for Agriculture 4.0, and more specifically, in the design of soft grippers for fruit harvesting  ...  Soft robotics and soft grippers in particular are promising approaches to lead to new solutions in this field due to the need to meet hygiene and manipulation requirements in unstructured environments  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/s21082689 pmid:33920353 fatcat:n7th6c6w2veuhikhh4dshxekze

Modeling, Design, and Implementation of an Underactuated Gripper with Capability of Grasping Thin Objects

Long Kang, Sang-Hwa Kim, Byung-Ju Yi
2021 Machines  
Finally, different types of grasping modes are verified experimentally with a two-fingered underactuated robotic gripper.  ...  By adding a torsion spring and a mechanical stopper at a passive joint, this underactuated finger mechanism can be used to perform parallel grasping, shape-adaptive grasping, and environmental contact-based  ...  The motivation of this research is to develop a new robotic gripper for grasping a wide range of household objects.  ... 
doi:10.3390/machines9120347 fatcat:fd4mtlh2rvcdthybntrcnad46u

Bio-Inspired Soft Grippers Based on Impactive Gripping

Liang Zhou, Lili Ren, You Chen, Shichao Niu, Zhiwu Han, Luquan Ren
2021 Advanced Science  
According to their types of movement and a classification model inspired by biological "grippers", soft grippers are classified into three types, namely, non-continuum bending-type grippers, continuum  ...  An exhaustive and updated analysis of each type of gripper is provided. Moreover, this review offers an overview of the different stiffness-controllable strategies developed in recent years.  ...  In this review, the recent developments of impactive soft grippers are discussed from a new perspective.  ... 
doi:10.1002/advs.202002017 pmid:33977041 pmcid:PMC8097330 fatcat:ijmgj46bkza6nhc6dib5qgtryy
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