Analysis of flexible end-effector for geometric conformity in reconfigurable assembly systems: Testing geometric structure of grasping mechanism for object adaptibility

Basson, Christian Ivan; Bright, Glen; Walker, Anthony J.

doi:10.1109/robomech.2017.8261129

Cited by 8 publications

(5 citation statements)

References 5 publications

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“…the compliant two-finger gripper [77], Fin Ray-type gripper [78] and buckling-type gripper [79] -or with JMR-20-1104 Milojević 7 distributed compliance -e.g. the Fin Ray-type gripper [80], two-material Fin Ray-type gripper [81] and ferroelastomer-actuated gripper [82] -are developed. Rarely, non-monolithic two-finger grippers with distributed compliance are suggested that are self-adaptive to some extend but separately require the mounting on the robot arm as well as the actuation either by a massive inner moving platform [83] or an outer drive [84].…”

Section: Related Workmentioning

confidence: 99%

A Novel Simple, Adaptive, and Versatile Soft-Robotic Compliant Two-Finger Gripper With an Inherently Gentle Touch

Milojević

Linß

Ćojbašić

et al. 2020

Journal of Mechanisms and Robotics

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In soft robotics there is still a great need for a universal but simple gripper that realizes a high level of adaptability as well as a gentle touch to a wide variety of unknown objects of different size, shape, stiffness and weight without the use of sensors or vision. Various, mostly complex grippers already exist based on certain actuation concepts. However, each solution has specific limitations, especially regarding gripping different soft and delicate objects. Therefore, this paper introduces a new approach to design a simple, adaptive and versatile soft robotic two-finger gripper that is based on compliant mechanisms. More specifically, an inherently gentle touch is realized by utilizing an optimally synthesized mechanism with distributed compliance in combination with a conventional linear actuator. It is shown by FEM simulations that the gripper realizes a high force and motion transmission at the same time. Furthermore, it is demonstrated by tests with a gripper prototype that reliable, safe, and fast grasping as well as manipulation are possible for a wide variety of objects. It is shown that beside regular and stiff objects also very challenging objects can be easily gripped, e.g. small, irregular, soft, and squeezable objects like fruits, berries and vegetables. Moreover, it is confirmed that the developed compliant two-finger gripper can be used beneficially without sensors and control for differently sized and shaped objects with a comparable weight.

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Section: Related Workmentioning

confidence: 99%

A Novel Simple, Adaptive, and Versatile Soft-Robotic Compliant Two-Finger Gripper With an Inherently Gentle Touch

Milojević

Linß

Ćojbašić

et al. 2020

Journal of Mechanisms and Robotics

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show abstract

“…Therefore, the Geneve mechanism was used to overcome the issue of using one motor instead of four motors per finger. More research was also conducted on flexible finger grippers, for example, a flexible four-finger gripper based on the Fin Ray Effect [7]. Additionally, in [8], a flexible robotic gripper based on rubber material and pneumatic actuation was designed, analyzed, and tested.…”

Section: Introductionmentioning

confidence: 99%

Design of a New Modular Reconfigurable Gripper

Ahmed¹,

Ezdeen²,

Sinjari³

2022

TEM Journal

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An entirely new reconfigurable gripper is designed and shown in this paper. The new gripper comprises six modular fingers, which can be rearranged to form any number of fingers between three and six. CAD, CAM, CAE, and PCB software Fusion 360 was used to design the gripper. Also, the gripper fingers are rotatable, so the finger bases can touch each other side-by-side and form one finger. In addition to showing the reconfigure ability of the gripper, several scenarios for grasping different shapes were presented and tested.

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“…A large variety of multi-fingered robotic gripper designs were proposed over the past decades, which can be generally divided into different categories: classical grippers, made of rigid links interconnected in various joints, e.g. [1]- [4], soft grippers, that utilize tendons in combination with elastic materials [5] or are made of specific materials implementing octopus-like behavior in which hydraulic or pneumatic actuators are used to transform one shape into another, e.g. [6], [7] and their design combinations, e.g.…”

Section: Introductionmentioning

confidence: 99%

An Open-Source Reconfigurable Robotic Gripper with Detachable Fingers

Nurpeissova

Malik

Kabitkanov

et al. 2022

2022 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)

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This paper presents a new open-source 3-fingered robotic gripper with a reconfigurable modular structure for extending the choice of reconfigurable robotic gripper designs freely available to robotics research community. Combination of unique design solutions, such as independent and modular (detachable) finger modules, which provide finger position and orientation reconfigurability and adaptivity to different shape objects, is experimentally demonstrated in a functional 3D-printed robotic gripper prototype. The proposed gripper prototype was built using off-the-shelf inexpensive components and 3D printing technology, ensuring low manufacturing cost and replicability. The paper also outlines the gripper control and demonstrates its performance in grasping different shape objects. The opensource design of the presented robotic gripper will be freely available for downloading from the authors' research lab website https://www.alaris.kz and https://github.com/alarisnu/alaris LCRDF Gripper upon further modernization, outlined in the future work discussion.

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Analysis of flexible end-effector for geometric conformity in reconfigurable assembly systems: Testing geometric structure of grasping mechanism for object adaptibility

Cited by 8 publications

References 5 publications

A Novel Simple, Adaptive, and Versatile Soft-Robotic Compliant Two-Finger Gripper With an Inherently Gentle Touch

A Novel Simple, Adaptive, and Versatile Soft-Robotic Compliant Two-Finger Gripper With an Inherently Gentle Touch

Design of a New Modular Reconfigurable Gripper

An Open-Source Reconfigurable Robotic Gripper with Detachable Fingers

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