A Hand Combining Two Simple Grippers to Pick Up and Arrange Objects for Assembly

Nie, Kaidi; Wan, Weiwei; Harada, Kensuke

doi:10.1109/lra.2019.2893153

Cited by 17 publications

(6 citation statements)

References 19 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Completely constrained-rigid links [36,96] Underconstrained-compliant mechanism [47] Completely constrained-Clompliant mechanism [97] Underconstrained-Rigid links [59] Medium Completely constrained-Clompliant mechanism [1,6] Size of 31.5 mm to 80 mm…”

Section: Principal Findingsmentioning

confidence: 99%

Current Designs of Robotic Arm Grippers: A Comprehensive Systematic Review

et al. 2023

View full text Add to dashboard Cite

Recent technological advances enable gripper-equipped robots to perform many tasks traditionally associated with the human hand, allowing the use of grippers in a wide range of applications. Depending on the application, an ideal gripper design should be affordable, energy-efficient, and adaptable to many situations. However, regardless of the number of grippers available on the market, there are still many tasks that are difficult for grippers to perform, which indicates the demand and room for new designs to compete with the human hand. Thus, this paper provides a comprehensive review of robotic arm grippers to identify the benefits and drawbacks of various gripper designs. The research compares gripper designs by considering the actuation mechanism, degrees of freedom, grasping capabilities with multiple objects, and applications, concluding which should be the gripper design with the broader set of capabilities.

show abstract

Section: Principal Findingsmentioning

confidence: 99%

Current Designs of Robotic Arm Grippers: A Comprehensive Systematic Review

et al. 2023

View full text Add to dashboard Cite

show abstract

“…Fig.15 shows the experimental results of handling a screw. In this case, a thin tooltip was used [13]. The compliant units at the parallel linkage allowed contacting the table completely to achieve an available grasp.…”

Section: B Using the Tool To Pick Various Objectsmentioning

confidence: 99%

“…The design was inspired by a human hand holding and manipulating two objects using one hand in product assembly. Nie et al [13] proposed a pair of fingers for arranging screws. The gripper can pick up and tile a screw to let the screw slide to the bottom of the finger so as to achieve the picking and alignment.…”

Section: B the Design Of Versatile And Adaptive Grippermentioning

confidence: 99%

Designing a Mechanical Tool for Robots With Two-Finger Parallel Grippers

Wan

Harada

2019

IEEE Robot. Autom. Lett.

Self Cite

View full text Add to dashboard Cite

This work designs a mechanical tool for robots with 2-finger parallel grippers, which extends the function of the robotic gripper without additional requirements on tool exchangers or other actuators. The fundamental kinematic structure of the mechanical tool is two symmetric parallelograms which transmit the motion of the robotic gripper to the mechanical tool. Four torsion springs are attached to the four inner joints of the two parallelograms to open the tool as the robotic gripper releases. The forces and transmission are analyzed in detail to make sure the tool reacts well with respect to the gripping forces and the spring stiffness. Also, based on the kinematic structure, variety tooltips were designed for the mechanical tool to perform various tasks. The kinematic structure can be a platform to apply various skillful gripper designs. The designed tool could be treated as a normal object and be picked up and used by automatically planned grasps. A robot may locate the tool through the AR markers attached to the tool body, grasp the tool by selecting an automatically planned grasp, and move the tool from any arbitrary pose to a specific pose to grip objects. The robot may also determine the optimal grasps and usage according to the requirements of given tasks.

show abstract

“…The arrangement and synchronized finger motion further enables the gripper to align the position and posture of the target objects, i.e., a self-centering function is available. As proposed in several studies [6][5] [11] [12][13], a robotic hand with a selfcentering function is effective for accomplishing tasks that require precise object positioning such as assembly.…”

Section: Introductionmentioning

confidence: 99%

Lightweight High-Speed and High-Force Gripper for Assembly

Nishimura

Takaki

Suzuki

et al. 2024

IEEE/ASME Trans. Mechatron.

View full text Add to dashboard Cite

This paper presents a novel industrial robotic gripper with a high grasping speed (maximum: 1396 mm/s), high tip force (maximum: 80 N) for grasping, large motion range, and lightweight design (0.3 kg). To realize these features, the highspeed section of the quick-return mechanism and load-sensitive continuously variable transmission mechanism are installed in the gripper. The gripper is also equipped with a self-centering function. The high grasping speed and self-centering function improve the cycle time in robotic operations. In addition, the high tip force is advantageous for stably grasping and assembling heavy objects. Moreover, the design of the gripper reduce the gripper's proportion of the manipulator's payload, thus increasing the weight of the object that can be grasped. The gripper performance was validated through kinematic and static analyses as well as experimental evaluations. This paper also presents the analysis of the self-centering function of the developed gripper.

show abstract

A Hand Combining Two Simple Grippers to Pick Up and Arrange Objects for Assembly

Cited by 17 publications

References 19 publications

Current Designs of Robotic Arm Grippers: A Comprehensive Systematic Review

Current Designs of Robotic Arm Grippers: A Comprehensive Systematic Review

Designing a Mechanical Tool for Robots With Two-Finger Parallel Grippers

Lightweight High-Speed and High-Force Gripper for Assembly

Contact Info

Product

Resources

About