Instrumenting a Robotic Finger to Augment the Capabilities of Robotic Grippers

Romeo, Rocco Antonio; Zocco, Agata; Parmiggiani, Alberto; Mura, Andrea; Gesino, Michele; Accame, Marco; Maggiali, Marco; Fiorio, Luca

doi:10.1109/tim.2023.3256477

Cited by 2 publications

(2 citation statements)

References 23 publications

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“…A crucial part of the gripper, i.e., the finger, seldom comes to be instrumented with sensors that could enhance the performance of the gripper itself. One may think about the cost and technological effort required by the miniaturization and integration of F/T sensors in gripper fingers: another aspect that, notwithstanding the considerable impact it would produce, draws poor attention [89].…”

Section: Discussionmentioning

confidence: 99%

Control Methodologies for Robotic Grippers: A Review

Cortinovis,

Vitrani,

Maggiali

et al. 2023

Actuators

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As automation is spreading in all the industry domains, the presence of robots is becoming unavoidable inside factories, warehouses and manufacturing facilities. Although a great number of companies and research institutions have concentrated their efforts on developing new robotic systems and advanced algorithms, much work is necessary to provide robotic grippers, especially industrial ones, with reliable, powerful control strategies. Therefore, this article aims at delivering an up-to-date point of view on the state of the art of robotic gripper control. The principal control methodologies employed so far, as well as a thorough selection of the existing contributions to the field, will be reported and discussed. Finally, the authors’ opinion about future directions will be expressed.

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Section: Discussionmentioning

confidence: 99%

Control Methodologies for Robotic Grippers: A Review

Cortinovis,

Vitrani,

Maggiali

et al. 2023

Actuators

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“…The literature does not provide approaches for open-loop force control, thus inducing users to rely on expensive grippers that can cost up to USD 10,000. Furthermore, as can be evinced from a very recent publication [18], approaches involving sensorized fingers on industrial robotic grippers are particularly rare. With this in mind, it is worth investigating the open-loop force behavior of grippers as a simpler alternative to the costly and often complex integration of sensors.…”

Section: Introductionmentioning

confidence: 99%

Improving the Grasping Force Behavior of a Robotic Gripper: Model, Simulations, and Experiments

Vitrani,

Cortinovis,

Fiorio

et al. 2023

Robotics

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Robotic grippers allow industrial robots to interact with the surrounding environment. However, control architectures of the grasping force are still rare in common industrial grippers. In this context, one or more sensors (e.g., force or torque sensors) are necessary. However, the incorporation of such sensors might heavily affect the cost of the gripper, regardless of its type (e.g., pneumatic or electric). An alternative approach could be open-loop force control strategies. Hence, this work proposes an approach for optimizing the open-loop grasping force behavior of a robotic gripper. For this purpose, a specialized robotic gripper was built, as well as its mathematical model. The model was employed to predict the gripper performance during both static and dynamic force characterization, simulating grasping tasks under different experimental conditions. Both simulated and experimental results showed that by managing the mechanical properties of the finger–object contact interface (e.g., stiffness), the steady-state force variability could be greatly reduced, as well as undesired effects such as finger bouncing. Further, the object’s size is not required unlike most of the grasping approaches for industrial rigid grippers, which often involve high finger velocities. These results may pave the way toward conceiving cheaper and more reliable open-loop force control techniques for use in robotic grippers.

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Instrumenting a Robotic Finger to Augment the Capabilities of Robotic Grippers

Cited by 2 publications

References 23 publications

Control Methodologies for Robotic Grippers: A Review

Control Methodologies for Robotic Grippers: A Review

Improving the Grasping Force Behavior of a Robotic Gripper: Model, Simulations, and Experiments

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