Object Picking Through In-Hand Manipulation Using Passive End-Effectors With Zero Mobility

Mucchiani, Caio; Kennedy, Monroe; Yim, Mark; Seo, Jung-Won

doi:10.1109/lra.2018.2795652

Cited by 16 publications

(6 citation statements)

References 31 publications

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“…The most widely deployed passive grippers in industry are forklifts, but they can only be used on objects specifically designed for them, e.g., pallets, shipping containers, and FIBC bags. The passive grippers proposed by Mucchiani et al [2018]; Mucchiani and Yim [2021] use a rotational motion to engage an antipodal grasp, but they can only pick up extruded cross sections (e.g., a cylinder), the key category not covered by our method. Other work has focused on passive deformations around objects to apply antipodal forces [Brodbeck and Iida 2015;Gupta et al 2019].…”

Section: Related Workmentioning

confidence: 99%

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Computational design of passive grippers

et al. 2022

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This work proposes a novel generative design tool for passive grippers---robot end effectors that have no additional actuation and instead leverage the existing degrees of freedom in a robotic arm to perform grasping tasks. Passive grippers are used because they offer interesting trade-offs between cost and capabilities. However, existing designs are limited in the types of shapes that can be grasped. This work proposes to use rapid-manufacturing and design optimization to expand the space of shapes that can be passively grasped. Our novel generative design algorithm takes in an object and its positioning with respect to a robotic arm and generates a 3D printable passive gripper that can stably pick the object up. To achieve this, we address the key challenge of jointly optimizing the shape and the insert trajectory to ensure a passively stable grasp. We evaluate our method on a testing suite of 22 objects (23 experiments), all of which were evaluated with physical experiments to bridge the virtual-to-real gap. Code and data are at https://homes.cs.washington.edu/~milink/passive-gripper/

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Section: Related Workmentioning

confidence: 99%

“…By assuming a vertical motion, we are unable to grasp objects with no bottom support such as a cylinder or a cone. Such objects can be handled by incorporating complex grasping strategies, such as rotating the object after being grasped [Mucchiani et al 2018;Mucchiani and Yim 2021].…”

Section: Limitations and Future Workmentioning

confidence: 99%

Computational design of passive grippers

et al. 2022

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“…Our presented work here confirms this point too. Another example related to our work can be seen in the literature on object singulation [10] and picking through quasistatic regrasping [11].…”

Section: Related Workmentioning

confidence: 99%

Dig-Grasping via Direct Quasistatic Interaction Using Asymmetric Fingers: An Approach to Effective Bin Picking

Tong

Kim

et al. 2021

IEEE Robot. Autom. Lett.

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“…Moreover, complex systems or uncommon materials lead to expensive solutions, and they require proper actuation systems. 8 Few works have been proposed in literature exploiting simple active actuations systems 10,13,14 and also passive actuation systems [15][16][17] which ensure the grip by using adaptive soft elements and rigid ad-hoc geometries with zero mobility.…”

Section: Introductionmentioning

confidence: 99%

3D printed passive end-effector for industrial collaborative robotic arms

Nicolini

Sorrentino

Castagnetti

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part L:

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The work focuses on the design and prototyping of a novel end-effector for a collaborative robotic arm allowing to grab and drag industrial packages without lifting them. The proposed solution consists of a passive 3D-printed end-effector manufactured using carbon fibre reinforced Onyx material. Thanks to the entirely passive mechanical actuation that exploits the compliance of the main chassis, this end-effector features a simple, scalable, and inexpensive structure. This lightweight end-effector is specifically designed for small and low payload collaborative robotic arms. Specifically, the proposed end-effector includes three main parts. First, a thin blade, with the main function of separating boxes that are close to each other. Second, a rocker arm - rod mechanism, which allows an opposable bracket to be moved in order to grab the correspondent package. This is proportionally and passively actuated by the contact pressure between the package, during its grip, and a paddle (third part), which is composed of a flat leverage and three flexural springs to counterbalance the pushing force. This paddle and the main body of the gripper were designed as a single part exploiting 3D printing manufacturing capabilities. Moreover, we implemented a Simscape dynamic model that predicts the functionality of the end-effector during standard operations. The work shows how to design, develop and validate a new low cost, passive end-effector mainly oriented to collaborative robots. The final prototype demonstrates its entire functionality, and proves fabricability through 3D printing, thus minimizing production costs, weight, and time.

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Object Picking Through In-Hand Manipulation Using Passive End-Effectors With Zero Mobility

Cited by 16 publications

References 31 publications

Computational design of passive grippers

Computational design of passive grippers

Dig-Grasping via Direct Quasistatic Interaction Using Asymmetric Fingers: An Approach to Effective Bin Picking

3D printed passive end-effector for industrial collaborative robotic arms

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