Force feedback based gripper control on a robotic arm

Park, Tae Mun; Won, Seung Yeon; Lee, Sang Ryong; Sziebig, Gábor

doi:10.1109/ines.2016.7555102

Cited by 7 publications

(2 citation statements)

References 12 publications

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“…The diagram of the ECDLSM is illustrated in Figure .1. For the ECDLSM, a model was developed in [14,15]. The η is the efficiency, α is the thread angle for a standard bolt (30 degree) [17,18].…”

Section: Modeling Of Electromechanical Cdlsmmentioning

confidence: 99%

Design and development of a ball-screw and electrical motor driven industrial electromechanical cylinder

FOTUHI¹

2022

Sigma J Eng Nat Sci - Sigma Müh Fen Bil Derg

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This paper presents a study on the implementation of converting an industrial pneumatic cylinder into an electromechanical cylinder drivetrain using a ball-screw mechanism and stepper motor (ECDLSM). Due to the fact that pneumatic cylinders in the industry are generally used in on-off operating mode, electric actuators provide more precise motion control (position, speed, acceleration, and force) along with providing superior accuracy and repeatability. The mechanical and electrical efficiency, force, and pos ition err ors of the ECDLSM have been examined based on the position, velocity, and acceleration profiles to the cylinder mechanism with the established test setup which consists of a current and force sensor, incremental and linear encoders, and springs. The highest ratio of the force applieddouble spring was performed to verify the accuracy of the analysis results by interpreting the force data and position errors collected from the ECDLSM. The analysis results show that the ECDLSM is very useful and flexible as much as its counterparts.

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Section: Modeling Of Electromechanical Cdlsmmentioning

confidence: 99%

Design and development of a ball-screw and electrical motor driven industrial electromechanical cylinder

FOTUHI¹

2022

Sigma J Eng Nat Sci - Sigma Müh Fen Bil Derg

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“…3). When a voltage of 24 V is applied to the motor, this results in a constant actuation torque of 0.5 Nm applied at the base of the finger and 0.25 Nm on each of the opposite fingers as defined (Park et al, 2016). First, it is required to determine the torque of the motor relative to the system's output force, the torque due to the force the load applies to the gripper finger called gripper force F g (N), and it is introduced through function F g .…”

Section: Mechanical Designmentioning

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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Experimental Investigation of a Biologically Inspired Gripper with Active Haptic Control for Geometric Compliancy

Basson

Bright

2019

Informatics in Control, Automation and Robotics

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Force feedback based gripper control on a robotic arm

Cited by 7 publications

References 12 publications

Design and development of a ball-screw and electrical motor driven industrial electromechanical cylinder

Design and development of a ball-screw and electrical motor driven industrial electromechanical cylinder

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

Experimental Investigation of a Biologically Inspired Gripper with Active Haptic Control for Geometric Compliancy

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