A novel universal gripper based on meshed pin array

Mo, An; Zhang, Wenzeng

doi:10.1177/1729881419834781

“…As a consequence, large grain sizes induce a marked drop in holding force. This is consistent with recent experiments based on pin array grippers that show a clear dependence of F h on the number of contact points between the gripper and the object [13].…”

Section: Resultssupporting

confidence: 93%

Effect of the granular material on the maximum holding force of a granular gripper

Gómez-Paccapelo

¹

,

Santarossa

²

,

Bustos

³

et al. 2020

View full text Add to dashboard Cite

A granular gripper is a device used to hold objects by taking advantage of the phenomenon of Reynold's dilatancy. A membrane containing a granular sample is allowed to deform around the object to be held and then vacuum is used to jam the granular material inside the membrane. This allows to hold the object against external forces since deformation of the granular material is prevented by not allowing the system to increase its volume. The maximum holding force supported by the gripper depends on a number of variables. In this work, we show that in the regime of frictional holding (where the gripper does not interlock with the object), the maximum holding force does not depend on the granular material used to fill the membrane. Results for a variety of granular materials can be collapsed into a single curve if maximum holding force is plotted against the penetration depth achieved. The results suggest that the most important feature in selecting a particular granular material is its deformability to ensure an easy flow during the initial phase of the gripping process. IntroductionThe handling of objects is a regular task in the industry. Holding objects of well defined size, shape and hardness can be done by robotic arms that present a gripper with a matching shape that fits the object to hold (e.g., hooks). Also, magnets can be used with ferromagnetic objects, and suction systems with objects presenting smooth surfaces. However, matching some of the gripping charac-

show abstract

“…Even so-called universal grippers will not be effective for all workflows. In the specific case of chemistry automation, designs like granular jamming gripper 16 , meshed pin array gripper 17 , and bioinspired swallowing gripper 18 , would struggle to effectively grasp autosampler vials individually, which typically are 10mm in diameter and stored in trays with 2mm clearance in between vial edges, or the tray itself, which often contains more than 48 vials.…”

Section: Introductionmentioning

confidence: 99%

A soft cable loop based gripper for robotic automation of Chemistry

Manes,

Fichera,

Fakhruldeen

et al. 2024

Preprint

0

View full text Add to dashboard Cite

Robotic automation is proving itself indispensable in the modern Chemistry laboratory, but adoption is slowed down by the technical challenges of implementing such systems. This paper reports on a novel adaptive gripper mechanism that can easily and reliably grasp cylindrical and prismatic objects of various sizes with limited clearance required. The proposed design exploits the inherent compliance of a cable that is driven to fully envelope the target object. The cable is run through a rigid finger, allowing the loop to be placed around objects with minimal clearance required and to provide support for the object once the grip is complete. Thanks to the compliant nature of the mechanism, the gripper requires minimal control effort to complete a gasping task. A prototype of the gripper has been designed and built for chemistry automation tasks, where it showed very high grasp reliability with $\leq 0.1\%$ grasp failures.

show abstract

“…Among these, Universal grippers stand out as they can easily manipulate object with very different geometries and physical properties with minimal sensing and control effort. The granular jamming gripper 20 , meshed pin array gripper 21 , and bio-inspired swallowing gripper 22 are some examples of universal grippers designs. On the other end of the spectrum a lot of progress has been made on the control of anthropomorphic robotic hands like the shadow hand 23 which has been used in conjunction with advanced sensing and control to achieve outstanding dexterity 24 .…”

Section: Introductionmentioning

confidence: 99%

A soft cable loop based gripper for robotic automation of chemistry

Manes,

Fichera,

Fakhruldeen

et al. 2024

Sci Rep

0

View full text Add to dashboard Cite

Robotic automation is proving itself indispensable in the modern Chemistry laboratory, but adoption is slowed down by the technical challenges of implementing such systems. This paper reports on a novel adaptive gripper mechanism that can easily and reliably grasp cylindrical and prismatic objects of various sizes with limited clearance required. The proposed design exploits the inherent compliance of a cable that is driven to fully envelope the target object. The cable is run through a rigid finger, allowing the loop to be placed around objects with minimal clearance required and to provide support for the object once the grip is complete. Thanks to the compliant nature of the mechanism, the gripper requires minimal control effort to complete a gasping task. A prototype of the gripper has been designed and built for chemistry automation tasks, where it showed very high grasp reliability with $$\le 1\%$$ ≤ 1 % grasp failures.

show abstract

A novel universal gripper based on meshed pin array

Cited by 26 publications

References 28 publications

Effect of the granular material on the maximum holding force of a granular gripper

Effect of the granular material on the maximum holding force of a granular gripper

A soft cable loop based gripper for robotic automation of Chemistry

A soft cable loop based gripper for robotic automation of chemistry

Contact Info

Product

Resources

About