A Systematic Review and Meta-analysis of Robotic Gripper

Long, Zhang; Qian, Jiang; Tao, Shuai; Wen, Feijuan; Chun-ping, Liang

doi:10.1088/1757-899x/782/4/042055

Cited by 19 publications

(11 citation statements)

References 33 publications

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“…Możliwości ich zastosowania wynikały bezpośrednio z wysokiej powtarzalności pozycjonowania oraz z prędkości ruchu, która czyniła robotyzację ekonomicznie uzasadnioną. Stosuje się chwytaki: dwupalczaste, kształtowe, podciśnieniowe, elastyczne [46]. Każde z tych rozwiązań ma ograniczone zastosowanie.…”

Section: Operowanie W śRodowisku Człowieka -Chwytanieunclassified

Robotics: Techniques, Functions, Social Role Part 2. Current Capabilities of Robots

Zieliński¹

2023

PAR

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In order to assess the impact of robots on society, it is necessary to carefully analyze the state-of-the-art, and in particular the fundamental issues that have yet to be resolved, however having significant impact on the potential societal changes resulting from the development of robotics. The aforementioned impact depends on the level of intelligence of robots, so this aspect dominates in the presented analysis. The presentation has been divided into three parts: 1) analysis of technical factors affecting the intelligence and security of robots, 2) analysis of current capabilities of robots, 3) analysis of diverse predictions of how robotics will evolve, and thus the attitudes towards the influence of the result of this development on society. This part of the paper is devoted to the second of the above mentioned three issues.

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Section: Operowanie W śRodowisku Człowieka -Chwytanieunclassified

Robotics: Techniques, Functions, Social Role Part 2. Current Capabilities of Robots

Zieliński¹

2023

PAR

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“…Methods that perform well on two-fingered grippers do not transfer well to multifingered dexterous hands (Du et al , 2021). Despite several decades of research on multifingered dexterous hands, which has led to the emergence of various multifingered dexterous hands with different structures (Long et al , 2020; Park and Kim, 2020), the two-fingered gripper remains the preferred option for most industries today due to limitations in the grasping methods of multifingered dexterous hands. The spatial antipodal theory of grasping suggests that the frictional force between a two-fingered gripper and an object can balance the weight of the object and maintain its stationary position (Murray et al , 1994).…”

Section: Introductionmentioning

confidence: 99%

Research on two-stage grasping planning method for multifingered dexterous hand

Tian

Cheng

Zhao

et al. 2023

RIA

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Purpose The purpose of this paper is to design a multifingered dexterous hand grasping planning method that can efficiently perform grasping tasks on multiple dexterous hand platforms. Design/methodology/approach The grasping process is divided into two stages: offline and online. In the offline stage, the grasping solution form is improved based on the forward kinematic model of the dexterous hand. A comprehensive evaluation method of grasping quality is designed to obtain the optimal grasping solution offline data set. In the online stage, a safe and efficient selection strategy of the optimal grasping solution is proposed, which can quickly obtain the optimal grasping solution without collision. Findings The experiments verified that the method can be applied to different multifingered dexterous hands, and the average grasping success rate for objects with different structures is 91.7%, indicating a good grasping effect. Originality/value Using a forward kinematic model to generate initial grasping points can improve the generality of grasping planning methods and the quality of initial grasping solutions. The offline data set of optimized grasping solutions can be generated faster by the comprehensive evaluation method of grasping quality. Through the simple and fast obstacle avoidance strategy, the safe optimal grasping solution can be quickly obtained when performing a grasping task. The proposed method can be applied to automatic assembly scenarios where the end effector is a multifingered dexterous hand, which provides a technical solution for the promotion of multifingered dexterous hands in industrial scenarios.

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“…[5,6] The popularity of SCs stems from their compactness and high adhesive forces. [7][8][9][10] In industrial settings, arrays of SCs are commonly employed to achieve high throughput or enable grippers capable of picking and placing objects of various sizes and shapes.…”

Section: Introductionmentioning

confidence: 99%

Self‐Closing and Self‐Healing Multi‐Material Suction Cups for Energy‐Efficient Vacuum Grippers

Wang,

Terryn,

Wang

et al. 2023

Advanced Intelligent Systems

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While vacuum grippers offer an economical solution, the environmental impact of energy waste through their suction cups (SCs) cannot be overlooked. This waste stems from three key factors: i) air losses from idle SCs arranged in arrays, ii) inadequate sealing on target surfaces leading to air leaks, and iii) damage from sharp objects resulting in leaking perforations. To overcome these challenges, in this article, a comprehensive approach is presented that involves the development of a i) self‐closing, ii) multi‐material, and iii) self‐healing system based on reversible elastomers cross‐linked via the Diels–Alder (DA) reaction. The system incorporates a fully autonomous self‐closing mechanism to prevent energy waste in SC arrays during periods of non‐contact. Fluid–structure interaction simulations are utilized to analyze the design. Versatility and stability are achieved by incorporating hyper‐flexible and stiff elastomers in a multi‐material design, supported by covalent DA cross‐links that ensure robustness through high‐strength multi‐material interfaces. These DA cross‐links also enable self‐healing capabilities, allowing the SCs to recover from macroscopic damages within 1 day at ambient conditions or in a single hour with mild heating (80–90 °C), restoring full performance. Additionally, in the article, a recycling method is introduced for multi‐material SCs based on the mechanical separation of reversible polymers.

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A Systematic Review and Meta-analysis of Robotic Gripper

Cited by 19 publications

References 33 publications

Robotics: Techniques, Functions, Social Role Part 2. Current Capabilities of Robots

Robotics: Techniques, Functions, Social Role Part 2. Current Capabilities of Robots

Research on two-stage grasping planning method for multifingered dexterous hand

Self‐Closing and Self‐Healing Multi‐Material Suction Cups for Energy‐Efficient Vacuum Grippers

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