Design fundamentals of a reconfigurable robotic gripper system

Kolluru, Ramesh; Valavanis, Kimon P.; Smith, Stanford; Tsourveloudis, Nikos C.

doi:10.1109/3468.833099

Cited by 48 publications

(16 citation statements)

References 3 publications

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“…In [6] a theoretical analysis coupled by simulation-based verification aimed at justifying a reconfigurable Robot Gripper System (RGS) is performed, specifically for handling limp material.…”

Section: Related Work and System Overviewmentioning

confidence: 99%

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Task and context sensitive optimization of gripper design using dynamic grasp simulation

Wolniakowski

Jørgensen

Miatliuk

et al. 2015

2015 20th International Conference on Methods and Models in Automation and Robotics (MMAR)

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In this work, we present a generic approach to optimize the design of a parametrized robot gripper including both gripper parameters and parameters of the finger geometry. We demonstrate our gripper optimization on a parallel jaw type gripper which we have parametrized in a 11 dimensional space. We furthermore present a parametrization of the grasping task and context, which is essential as input to the computation of gripper performance. We exemplify the feasibility of our approach by computing several optimized grippers on a real world industrial object in three different scenarios.

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Section: Related Work and System Overviewmentioning

confidence: 99%

“…This is different to the approaches utilized before, which relied on a theoretical analysis of gripper dimensional design. While [6] used simulation in their work, it was not a simulation of a complete grasping scenario. Instead, the simulation was concerned with mechanical analysis of the mechanism parts.…”

Section: Related Work and System Overviewmentioning

confidence: 99%

Task and context sensitive optimization of gripper design using dynamic grasp simulation

Wolniakowski

Jørgensen

Miatliuk

et al. 2015

2015 20th International Conference on Methods and Models in Automation and Robotics (MMAR)

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“…The picking module has to be chosen to guarantee the grasping robustness, and is mainly influenced by the material mass and surface properties, while the mechanism architecture is in charge of the range of reconfigurability to comply with different sizes and shapes of the pieces [3].…”

Section: Introductionmentioning

confidence: 99%

Theoretical and kinematic solution of high reconfigurable grasping for industrial manufacturing

Chen

Cannella

Canali

et al. 2013

2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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High flexibility and high speed is the goal for industrial manufacturing using robots. However, it is difficult to put them together due to the fact that they are contradicting with each other. To solve this problem, a new high reconfigurable gripper is proposed for robotic manipulator to improve its flexibility, so that the robot can accomplish an assembly task with shorter time. In this paper, the authors describe the general principles and concepts to define and design a new gripper. This new gripper has two degrees of freedom (DoFs) per finger and can support enough payload for manufacturing applications. The simple kinematics permits it to perform the function with high speed. Moreover, the same design concept can be applied to handle different workpieces within different scenarios. The physical models are shown as proof of this successful project.

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“…Therefore it is necessary to analysis the static and dynamic characteristics to meet the design demand of manipulator. According to different application requirements, various types of robot manipulator are designed [4] [5]. Ansys is general software to analysis the static and dynamic structure, which include stress and strain analysis, modal analysis, and so on [6].…”

Section: Introductionmentioning

confidence: 99%

The Design of Manipulator to Grab Wheel Hub based on Static and Dynamic Analysis

Li¹,

Li²,

Qian³

et al. 2016

Proceedings of the 6th International Workshop of Advanced Manufacturing and Automation

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Abstract-In this paper, the research object is dispatching platform of wheel hub. And the design process of palletizing manipulator for a wheel hub is introduced, which includes the structure design of manipulator, and the static and dynamic analysis to ensure structure strength and stiffness under a certain clamping force. Finally the structure of manipulator has been optimized for lightweight to ensure the palletizing manipulator meet the design requirements in every respect. In view of the design requirements of manipulator, the design steps and design ideas are provided in this article, which provided technical support for the promotion and application of robot manipulator in modern industrial manufacturing.

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Design fundamentals of a reconfigurable robotic gripper system

Cited by 48 publications

References 3 publications

Task and context sensitive optimization of gripper design using dynamic grasp simulation

Task and context sensitive optimization of gripper design using dynamic grasp simulation

Theoretical and kinematic solution of high reconfigurable grasping for industrial manufacturing

The Design of Manipulator to Grab Wheel Hub based on Static and Dynamic Analysis

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