Evolution of Industrial Robotic Grippers—A Review

Arulkirubakaran, D.; Prince, R. Malkiya Rasalin; Ramesh, R.; Rajesh, T. C. S. N.; Anand, K. Neil; Mathew, Sharlette Mariam; Baby, Steffy T.; Sharon, J. Anila; Kishore, K. CH. S.

doi:10.1007/978-981-19-0244-4_53

Cited by 5 publications

(5 citation statements)

References 2 publications

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“…However, further considerations for deployment of the vacuum-gripping mode need to be addressed. This is because Second, with the minor radius of the object, the gripping width of HRG is described as r ¼ 2r minor (5) Third, based on the shape of the object, HRG is configured into either a parallel or a radial configuration with the following equation:…”

Section: Reconfigurable Picking Frameworkmentioning

confidence: 99%

“…[ 12 ] Vacuum grippers are generally used to pick nonporous and structured items. [ 5 ] Finger grippers made of metal alloys or soft rubber are more appropriate to handle items with high porosity and high moisture. [ 13 ] Due to the fragility of consumer goods in e‐commerce industries, soft grippers are ideal candidates due to their inherent compliant nature.…”

Section: Introductionmentioning

confidence: 99%

“…Generally, commercial gripping solutions are categorized based on the number of fingers, gripping method, and actuation mechanism. [5,6] These grippers can have two to five [7] fingers. Gripping method can be impactive, astrictive, or contigutive.…”

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confidence: 99%

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Hyper‐Versatile Gripping: Synergizing Mechanical and Machine Intelligence of a Hybrid Robotic Gripper

Khin,

Yeow,

Ang

2024

Advanced Intelligent Systems

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Integration of robotic solutions in manufacturing sector is growing. However, it is still concentrated in certain industries (i.e., electronics and automotive) where standardization of product physical form is high. Current state‐of‐the‐art gripping solutions fall short when they need to accommodate items with high variability in physical form. This challenging scenario for automation can be found in a few industries (i.e., e‐commerce). Automation of pick‐and‐place processes in this area requires a more versatile gripping solution. To resolve this challenge, this article proposes a novel way to improve grip‐versatility by synergizing the mechanical and machine intelligence of a hybrid robotic gripper (HRG). Comparative analysis with commercial grippers shows that HRG can pick a more diverse range of items with success rate 94.78%. Visual perception‐based picking strategy is developed to automate the reconfiguration of HRG into a stable grasp pose for different objects. Using the proposed reconfigurable picking strategy, the efficacy of HRG in pick‐and‐place tasks is evaluated using three parameters—mean pick per hour (MPPH), successful execution over total attempts (SETA), and average cycle time (AVGCT). HRG can effectively pick items in cluttered workspace with MPPH of 98.54 ± 15.49, SETA of 0.93 ± 0.11, and AVGCT of 34.76 ± 3.31 s.

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Section: Reconfigurable Picking Frameworkmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Hyper‐Versatile Gripping: Synergizing Mechanical and Machine Intelligence of a Hybrid Robotic Gripper

Khin,

Yeow,

Ang

2024

Advanced Intelligent Systems

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“…Over the years, various gripper types have been designed and developed. Conventional rigid grippers with rigid joints and fingers for industrial applications have been in operation for many decades [1], [2]. Typically, such grippers with two or three fingers are used for tasks requiring high precision and a strong gripping force.…”

Section: Introductionmentioning

confidence: 99%

“…The gripper typically requires a minimum of two actuators with an agonisticantagonistic setup or two/three fingers to tightly grasp the object from both sides at the same time [7], [8]. An advanced tendon-driven five fingered gripper, like shadow hand from the shadow robot 1 , demonstrates a wide range of manipulation applications like the human hand. Despite its sophisticated manipulation capabilities, it has 20 active joints and four passive joints for 24 degrees of freedom (DOFs) in total, requiring sophisticated control methods [9].…”

Section: Introductionmentioning

confidence: 99%

Insect Tarsus-Inspired Compliant Robotic Gripper With Soft Adhesive Pads for Versatile and Stable Object Grasping

Phodapol

Harnkhamen

Asawalertsak

et al. 2023

IEEE Robot. Autom. Lett.

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Grasping multiple object types (versatile object grasping) with a single gripper is always a challenging task in robotic manipulation. Different types of grippers, including rigid and soft, have been developed to try to achieve the task. However, each gripper type is still restricted to specific object types. In nature, many insects can be observed to use only one tarsus mechanism to cope with several tasks. They have a very high grasping capability with objects and can adhere to a variety of surface types. Inspired by insect tarsus, this paper proposes a novel underactuated, single cable-driven, compliant gripper design. The structure of the gripper is based on the hornet tarsus morphology with a proportional scale. An additional pulley-like structure is introduced to increase the generated grasping torque. To maintain the ability to automatically rebound back to the original position, a torsion spring is implemented at each joint. In order to stably grasp and hold objects, soft adhesive pads with an asymmetric sawtooth-like surface structure are attached at the tarsus segments. The performance of this insect tarsusinspired gripper with the soft pads is evaluated by grasping 35 different objects of various sizes, shapes, and weights for comparison with industrial soft and rigid grippers. The proposed gripper shows a 100% success rate in grasping all objects, while the soft and rigid gripper success rates are 81.90% and 91.43% on average, respectively. We finally demonstrate the use of our gripper installed on a robot arm for pick-and-place and pouring tasks.

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A Comparative Analysis and Scoping Review of Soft–Rigid and Industrial Parallel Rigid Grippers

Li,

Crosby,

Shuttleworth

et al. 2024

Advanced Intelligent Systems

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In this research, it is aimed to present a comparative analysis of soft–rigid industrial parallel rigid grippers to compare their technical capabilities and assess the potential for soft–rigid grippers to address the challenge of grasping fragile objects with various shapes and sizes. In this research, 24 soft–rigid grippers are first identified through a scoping review using the Web of Science database, capturing their technical features and performance. Providing a variable stiffness grasp (n = 9, 37.5%) and a limited grasp capability (n = 8, 33.3%) is the most common advantage and challenge, respectively, of soft–rigid grippers. Pneumatic actuators (n = 12, 50.0%), followed by tendon‐driven electric rotary actuators (n = 9, 37.5%), are the predominant actuators used for soft–rigid grippers. Soft–rigid grippers are found to have a lower output force‐to‐weight ratio (n = 9, median , standard deviation (σ) = 15.17) in comparison to industrial parallel rigid grippers (n = 63, , ), but can provide a larger range of motion (n = 20, , ). This is the first quantitative comparative analysis between industrial parallel rigid and soft–rigid grippers, enhancing the understanding of their status and prospects in industrial applications. Herein, a common approach is proposed to standardize reporting to facilitate benchmarking between research‐based and industrial grippers and highlight controlling soft–rigid grippers is an underexplored area that can enhance the technology's performance.

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Evolution of Industrial Robotic Grippers—A Review

Cited by 5 publications

References 2 publications

Hyper‐Versatile Gripping: Synergizing Mechanical and Machine Intelligence of a Hybrid Robotic Gripper

Hyper‐Versatile Gripping: Synergizing Mechanical and Machine Intelligence of a Hybrid Robotic Gripper

Insect Tarsus-Inspired Compliant Robotic Gripper With Soft Adhesive Pads for Versatile and Stable Object Grasping

A Comparative Analysis and Scoping Review of Soft–Rigid and Industrial Parallel Rigid Grippers

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