An Open-Access Passive Modular Tool Changing System for Mobile Manipulation Robots

Berenstein, Ron; Wallach, Averell; Moudio, Pelagie Elimbi; Cuellar, Peter; Goldberg, Ken

doi:10.1109/coase.2018.8560398

Cited by 15 publications

(5 citation statements)

References 12 publications

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“…subject to the following equality, Gλ = 0 (8) the following inequalities related to the linearized friction limits,…”

Section: Grasp Synthesis: Test For Force-closurementioning

confidence: 99%

“…Apart from multi-function fingertips, other solutions for flexible gripping include the following: universal gripping consisting of adaptive multi-fingered hands [2][3][4], soft fingertips [5], shape morphing fingertips [6], granular jamming [7], gripper exchange systems [8], modular gripping [9] consisting of re-configurable jaws designed based on closure analysis [10], and multi-function finger design wherein the design of the fingertip is chosen to handle multiple objects [11]. Multi-function fingers are cheaper, more effective, and more reliable than tool-changing systems and rotary wrist mechanisms.…”

Section: Introductionmentioning

confidence: 99%

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Automated Grasp Planning and Finger Design Space Search Using Multiple Grasp Quality Measures

Hota,

Liu,

Decraemer

et al. 2024

Robotics

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As the industry shifts to automated manufacturing and the assembly of parts in smaller batches, there is a clear need for an efficient design of grippers. This paper presents a method for automated grasp planning and finger design for multiple parts using four grasp quality measures that capture the following important requirements for grasping: (i) uniform contact force distribution; (ii) better gravity wrench resistance; (iii) robustness against gripper positioning error; and (iv) ability to resist larger external wrench on the object. We introduce the fingertip score to quantify the grasp performance of a fingertip design over all the objects. The method takes the CAD model of the objects as the input and outputs the optimal grasp location and the best finger design. We use the method for a three-point grasp with a parallel jaw gripper. We validate our method on two sets of objects. Results show how each grasp quality measure behaves on different objects and the variation in the fingertip score with finger design. Finally, we test the effectiveness of the optimal finger design experimentally. The three-point grasp is suitable for grasping objects larger than is possible with shape-matching fingertips.

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“…subject to the following equality, Gλ = 0 (8) the following inequalities related to the linearized friction limits,…”

Section: Grasp Synthesis: Test For Force-closurementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Automated Grasp Planning and Finger Design Space Search Using Multiple Grasp Quality Measures

Hota,

Liu,

Decraemer

et al. 2024

Robotics

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“…Another important gripper-related topic is to create 'tool changers' that adapt to the different shapes and sizes of everyday objects. There are different types of tool changers for a robotic arm: automatic tool changers that are electro-mechanically actuated [20] or passive mechanisms actuated by a host robot [5,45]. Similar to our method, researchers also proposed the design of mechanical tool for robots to grasp different daily objects with modular two-finger gripper but only focused on the grasping of objects with different sizes [23].…”

Section: Relationship To Robotic Researchmentioning

confidence: 99%

“…On the side of the mechanism, modular driving gears (e.g., gears or gear-rack mechanism, Figure 16N) can be assembled with the female crown gear to actuate different types of mechanisms. 5 for communicating with the web server (Figure 16H). An RFID reader is used for recognizing different objects (Figure 16G) and each mechanism on the object comes with an RFID tag (Figure 16K) whose ID is associated with a user-defined control program to perform a specific task.…”

Section: Motion Transmissionmentioning

confidence: 99%

Roman: Making Everyday Objects Robotically Manipulable with 3D-Printable Add-on Mechanisms

Li¹,

Samoylov

Kim

et al. 2022

CHI Conference on Human Factors in Computing Systems

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Figure 1: Roman is a novel robotic design making everyday handheld objects more robotically manipulable, i.e., easier to be manipulated by a conventional robotic arm. This figure shows a sequence of a Roman-enabled robotic arm picking up a wire cutter on the desk and performing a wire cutting task collaborating with a human (a-d). Roman provides a magnetic gripper (e) for the robotic arm to easily attach and augment the wire cutter with Roman mechanism (f). Snapping in the mechanism using magnets (g), the gripper can actuate the gear-rack movement on the wire cutter (h) to perform the cutting task by squeezing the cutter's handles (i).

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“…Some of them are electro-mechanically actuated, like the one presented in [7]. Some others are passive, like the one presented in [8]. Which used passive mechanisms actuated by host robots.…”

Section: A the Design Of Robot Hand Changersmentioning

confidence: 99%

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

Wan

Harada

2019

IEEE Robot. Autom. Lett.

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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.

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An Open-Access Passive Modular Tool Changing System for Mobile Manipulation Robots

Cited by 15 publications

References 12 publications

Automated Grasp Planning and Finger Design Space Search Using Multiple Grasp Quality Measures

Automated Grasp Planning and Finger Design Space Search Using Multiple Grasp Quality Measures

Roman: Making Everyday Objects Robotically Manipulable with 3D-Printable Add-on Mechanisms

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

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