The Series Elastic Gripper Design, Object Detection, and Recognition by Touch

Abstract

In recent years, robotic applications have been improved for better object manipulation and collaboration with human. With this motivation, the detection of objects has been studied with serial elastic parallel gripper by simple touching in case of no visual data available. A series elastic gripper, capable of detecting geometric properties of objects is designed using only elastic elements and absolute encoders instead of tactile or force/torque sensors. The external force calculation is achieved by employing an estimation algorithm. Different objects are selected for trials for recognition. A Deep Neural Network model is trained by synthetic data extracted from STL file of selected objects . For experimental set-up, the series elastic parallel gripper is mounted on a Staubli RX160 robot arm and objects are placed in pre-determined locations in the workspace. All objects are successfully recognized using the gripper, force estimation and the DNN model. The best DNN model capable of recognizing different objects with the average prediction value ranging from 71% to 98%. Hence the proposed design of gripper and the algorithm achieved the recognition of selected objects without need for additional force/torque or tactile sensors.

Advanced Applications of Industrial Robotics: New Trends and Possibilities

“…Results of analysis showed the difference between the systems and promising solutions for further improvements. [36,45,47] To build a low-cost system for identifying shapes to program industrial robots for the 2D welding process.…”

Configuration design and grasping contact accuracy analysis of a four-finger manipulator used for grasping fragile objects of elliptic cross section

“…12 Kaya et al studied a series elastic parallel gripper by simple touching in case of no visual data available. 13 As far as the industrial robots on the assembly line are concerned, picking up and discharging materials are the most basic functions. Sometimes, the manipulator gripper is also used to complete assembly task.…”

“…12 Kaya et al studied a series elastic parallel gripper by simple touching in case of no visual data available. 13…”

Influence of Inlet Parameters on Power Characteristics of Bernoulli Gripping Devices for Industrial Robots

“…Some papers [9,14,16,17,20,24,[26][27][28]31,35,36] present methods of creating gripping devices for specific types of objects. In [10,15,18,21,22,25,[29][30][31]35,37], work is widely carried out under the classification of gripping devices of industrial robots. The methods of recognition [19,23], grasping [13,18,32,33], and manipulation [8,11,12,34] for different gripping devices vary greatly and depend on the object.…”