Development of novel magnetic grippers for use in unstructured robotic workspace

Roy, Debanik

doi:10.1016/j.rcim.2015.02.003

Cited by 25 publications

(5 citation statements)

References 34 publications

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“…In Fig 10 , we have shown that there are few studies that have focused on surgical instrument manipulation. These authors [ 13 , 14 ] have performed several works, but the mechanism is based on magnetic actuation, which limits its capability to only ferromagnetic tools.…”

Section: Discussionmentioning

confidence: 99%

“…However, this method is used only for picking a thin-flat flexible sheet [ 12 ]. Additional approaches include an electromagnetic gripper, which showed complex grasping of tiny, slender objects like a surgical instrument [ 13 , 14 ], and levitation-based grasping for thin object manipulation using tilt control and haptic feedback [ 15 ]. The grippers are operated with passive compliance that can reorient and conform to the instrument surface.…”

Section: Introductionmentioning

confidence: 99%

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SurgGrip: a compliant 3D printed gripper for vision-based grasping of surgical thin instruments

et al. 2022

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This paper presents a conceptual design and implementation of a soft, compliant 3D printed gripper (SurgGrip), conceived for automated grasping of various surgery-based thin-flat instruments. The proposed solution includes (1) a gripper with a resilient mechanism to increase safety and better adaptation to the unstructured environment; (2) flat fingertips with mortise and tenon joint to facilitate pinching and enveloping based grasping of thin and random shape tools; (3) a soft pad on the fingertips to enable the high surface area to maintain stable grasping of the surgical instruments; (4) a four-bar linkage with a leadscrew mechanism to provide a precise finger movement; (5) enable automated manipulation of surgical tools using computer vision. Our gripper model is designed and fabricated by integrating soft and rigid components through a hybrid approach. The SurgGrip shows passive adaptation through inherent compliance of linear and torsional spring. The four-bar linkage mechanism controlled by a motor–leadscrew–nut drive provides precise gripper opening and closing movements. The experimental results show that the SurgGrip can detect, segment through a camera, and grasp surgical instruments (maximum 606.73 gs), with a 67% success rate (grasped 10 out of 12 selected tools) at 3.21 mm/s grasping speed and 15.81 s object grasping time autonomously. Besides, we demonstrated the pick and place abilities of SurgGrip on flat and nonflat surfaces in real-time. Supplementary Information The online version contains supplementary material available at 10.1007/s11012-022-01594-6.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

SurgGrip: a compliant 3D printed gripper for vision-based grasping of surgical thin instruments

et al. 2022

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“…Gripper designs in bin-picking applications range from two-finger to multi-finger grippers, from suction or magnetic grippers [17] to soft grippers [18]. In the field of binpicking, suction typically has an advantage over parallel-jaw or multi-finger grasping due to its ability to reach narrow spaces and pick up objects with a single point of contact [19].…”

Section: End-effector Designmentioning

confidence: 99%

Improving Robotic Bin-Picking Performances through Human–Robot Collaboration

2023

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The automation of bin-picking processes has been a research topic for almost two decades. General-purpose equipment, however, still does not show adequate success rates to find application in most industrial tasks. Human–robot collaboration in bin–picking tasks can increase the success rate by exploiting human perception and handling skills and the robot ability to perform repetitive tasks. The aim of this paper, starting from a general-purpose industrial bin picking equipment comprising a 3D–structured light vision system and a collaborative robot, consists in enhancing its performance and possible applications through human–robot collaboration. To achieve successful and fluent human–robot collaboration, the robotic workcell must meet some hardware and software requirements that are defined below. The proposed strategy is tested in some sample tests: the results of the experimental tests show that collaborative functions can be particularly useful to overcome typical bin picking failures and to improve the fault tolerance of the system, increasing its flexibility and reducing downtimes.

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“…The manipulation is done using compressed air nozzles allowing the part to move freely before it is grasped. Up to now, the non-contact manipulation can be partially achieved by using magnetic actuation which is nonetheless applicable in a reduced set of metal parts [24]. The inhand manipulation is not performed by the gripper fingers/gears allowing a more simplified control approach.…”

Section: Literature Reviewmentioning

confidence: 99%

A novel pneumatic gripper for in-hand manipulation and feeding of lightweight complex parts—a consumer goods case study

Michalos

Dimoulas

Mparis

et al. 2018

Int J Adv Manuf Technol

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This paper discusses the design and implementation of a robotic gripper that uses compressed air to (a) orient the parts in the desired grasping position, (b) guide the parts inside a grasping mechanism and (c) feed the parts to a track conveyor with sufficient accuracy. The novelty of the approach lays in the ability to perform in-hand manipulation of the object by the gripper allowing to pick randomly placed objects that have a complex geometry. Unlike existing 'pick and place' operations which are mainly focused on flat objects that require minimal manipulation (rotation around vertical axis), the gripper can re-orient the parts itself, minimizing the robot's motion. The major components of the gripper are 3D printed, allowing fast customization for different products. The manipulation and gripping mechanisms have been inspired by an application in the consumer goods industry involving the feeding of shaver handles to an assembly machine. The findings indicate that the proposed solution can be an alternative to part-dedicated, high-cost feeding equipment that is currently used.

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Development of novel magnetic grippers for use in unstructured robotic workspace

Cited by 25 publications

References 34 publications

SurgGrip: a compliant 3D printed gripper for vision-based grasping of surgical thin instruments

SurgGrip: a compliant 3D printed gripper for vision-based grasping of surgical thin instruments

Improving Robotic Bin-Picking Performances through Human–Robot Collaboration

A novel pneumatic gripper for in-hand manipulation and feeding of lightweight complex parts—a consumer goods case study

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