Design and Fabrication of a Novel Force Sensor for Robot Grippers

Kuang, Lisheng; Lou, Yunjiang; Song, Shuang

doi:10.1109/jsen.2017.2788015

Cited by 12 publications

(3 citation statements)

References 18 publications

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“…It proposed the linearity and sensitivity using a force sensor. 8 The single actuator hand has been designed to be of low cost and open source. It establishes the design of an adaptive four-fingered hand of three-dimensional (3D) printed components.…”

Section: Introductionmentioning

confidence: 99%

RETRACTED: An investigation of various actuation mechanisms in robot arm

Prakash¹,

Ilangkumaran²

2019

Measurement and Control

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Many research activities have been carried out to develop a simple mechanism for grasping irregular object shapes using two- or three-fingered robot end effectors. The idea behind this work is to develop three-fingered intelligent grippers that are capable of sensing different factors like weight, effort required, compactness, robustness, and stability of the object held during the manipulations. In this paper, five different actuation mechanisms, namely, edge-cam-operated actuation mechanism, toggle-linkage-based actuation mechanism, wedge-cam-operated gripper, sliding slotted pin–ball joint arrangement, and rack-and-pinion-operated four-bar linkage mechanism, are introduced. The actuation and grasping force of the gripper are to be determined using the analytical approach (static force analysis). Finally, the effective intelligent gripper mechanism is identified based on grasping force for grasping 1 kg weight of a prespecified object.

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Section: Introductionmentioning

confidence: 99%

RETRACTED: An investigation of various actuation mechanisms in robot arm

Prakash¹,

Ilangkumaran²

2019

Measurement and Control

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“…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

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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.

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“…The key challenge in these problems is to find the right balance between all the conflicting goals. The perfect solution to an optimal design problem of a given gripper system is to develop a set of solutions by analyzing the system parameters that accomplish all the goals simultaneously (Kuang et al, 2017;Hu et al, 2019).…”

Section: Introductionmentioning

confidence: 99%

Comparative Study of the Parallel and Angular Electrical Gripper for Industrial Applications

Fotuhi¹,

Bingül

2021

Acta Mechanica Et Automatica

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The aim of this paper is to study the position and power performances of an electrical lead screw-driven industrial gripper mechanism (LSDIGM). This work consists of designing and developing an electrical LSDIGM that has the potential to meet various demands in the automation industry and factories. The performances of both angular electrical gripper (AEG) and parallel electrical gripper (PEG) mechanisms were compared based on their position and power efficiency. The position efficiency of these electrical LSDIGM is computed from the position root mean square error (PRMSE) obtained from errors between the two measured positions (input incremental encoder and output linear encoder). In the experimental setup, a current sensor and a spring were employed to measure the current in the input of the system and the stiffness in the output of the system, respectively. The electrical power in the input of the electrical LSDIGM and the mechanical power in the output of the LSDIGMs were calculated using the current and the spring force, respectively. Finally, the power efficiency of these electrical LSDIGMs was examined and compared at different velocity circumstances.

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Design and Fabrication of a Novel Force Sensor for Robot Grippers

Cited by 12 publications

References 18 publications

RETRACTED: An investigation of various actuation mechanisms in robot arm

RETRACTED: An investigation of various actuation mechanisms in robot arm

Current Designs of Robotic Arm Grippers: A Comprehensive Systematic Review

Comparative Study of the Parallel and Angular Electrical Gripper for Industrial Applications

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