Modeling, analysis, and performance evaluation of a robotic gripper system for limp material handling

Kolluru, Ramesh; Valavanis, Kimon P.; Hebert, T.

doi:10.1109/3477.678660

Cited by 32 publications

(21 citation statements)

References 8 publications

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“…Kolluru et al [11] have developed a vacuum gripper that has a flat bottom surface constituting a matrix of holes for suction purposes. A variety of modified configurations have been developed based on it, with intelligent control integrated [12,13]. The biggest limitation for a vacuum gripper is due to the air permeability of fabric materials.…”

Section: Contemporary Handling Solutionsmentioning

confidence: 99%

Model-based Design and Simulation of a Soft Robotic Gripper for Fabric Material Handling

Wang

Urbanic²

2021

Preprint

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Fabric and textile materials are widely used in many industrial applications, especially in automotive, aviation, and consumer goods. Currently, there is a lack of automatic solutions for rapid and effective fabric handling operations that can be expanded to various applications, causing economic loss, workplace safety issues, and process bottlenecks. As a bio-inspired novel technology, soft robotic grippers provide new opportunities for the automation of fabric handling tasks. In this research, an elastomer-based tendon-actuated soft gripper for fabric pick and place tasks is developed through a model-based design approach. Based on finite element analysis, the gripper design is simulated, modified, and validated. Multiple design variables and their impacts are studied. Detailed motion patterns of the underactuated structure are obtained. After the design is established, a prototype is fabricated trough additive manufacturing and overmolding processes to physically test the functionality of the gripper and further validate the simulation results.

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Section: Contemporary Handling Solutionsmentioning

confidence: 99%

Model-based Design and Simulation of a Soft Robotic Gripper for Fabric Material Handling

Wang

Urbanic²

2021

Preprint

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“…This gripper did not have tactile feedback sensors, which could improve part handling and manipulation. The model for this specific gripper is covered in [106].…”

Section: Soft Fabric Grippersmentioning

confidence: 99%

State of the Art Robotic Grippers and Applications

et al. 2016

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Abstract:In this paper, we present a recent survey on robotic grippers. In many cases, modern grippers outperform their older counterparts which are now stronger, more repeatable, and faster. Technological advancements have also attributed to the development of gripping various objects. This includes soft fabrics, microelectromechanical systems, and synthetic sheets. In addition, newer materials are being used to improve functionality of grippers, which include piezoelectric, shape memory alloys, smart fluids, carbon fiber, and many more. This paper covers the very first robotic gripper to the newest developments in grasping methods. Unlike other survey papers, we focus on the applications of robotic grippers in industrial, medical, for fragile objects and soft fabrics grippers. We report on new advancements on grasping mechanisms and discuss their behavior for different purposes. Finally, we present the future trends of grippers in terms of flexibility and performance and their vital applications in emerging areas of robotic surgery, industrial assembly, space exploration, and micromanipulation. These advancements will provide a future outlook on the new trends in robotic grippers.

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“…In North America, Kolluru et al (1998Kolluru et al ( , 2000a) developed a new robot gripper system to automate handling of limp fabrics. His design was a flat-surfaced fix-dimensioned gripper that followed the principles of pressure differential to create suction that could assist with fabric manipulation.…”

Section: Sheet Materials Manipulationmentioning

confidence: 99%

Industrial applications of automatic manipulation of flexible materials

Saadat

Nan

2002

Industrial Robot: An International Journal

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Modeling, analysis, and performance evaluation of a robotic gripper system for limp material handling

Cited by 32 publications

References 8 publications

Model-based Design and Simulation of a Soft Robotic Gripper for Fabric Material Handling

Model-based Design and Simulation of a Soft Robotic Gripper for Fabric Material Handling

State of the Art Robotic Grippers and Applications

Industrial applications of automatic manipulation of flexible materials

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