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Assembly process complexity in the production of manufactured products has received considerable attention in recent years. With the growing trend towards cyber-physical systems and the fourth industrial revolution, assembly research efforts must aim to develop efficient production systems incorporating robotic arms and flexible fixtures. The aim of the research was to investigate end effector and...
This paper presents the design and fabrication process of a soft-bodied gripper with integrated curvature sensors for shape control. The soft gripper contains three identical fingers based on the principle of fluid elastomer actuator. Each of the finger is made of silicon rubber, named Dragon Skin, and is connected to a robotic arm by a snap-lock mechanism. Grasping ability of the soft-bodied gripper...
This paper describes the approach taken by the team from the Robotic Intelligence Laboratory at Jaume I University to the Amazon Robotics Challenge 2017. The goal of the challenge is to automate pick and place operations in unstructured environments, specifically the shelves in an Amazon warehouse. RobInLab's approach is based on a Baxter Research robot and a customized storage system. The system's...
This paper presented a new design for underactuated robotic hand which has four grasping modes for objects. The robotic hand has three fingers. The underactuated mechanism of thumb is composed of gear-rack structure and the other two fingers work as a 2DOF gripper. The robotic hand can form both opening and closing motions with one motor. There is another motor which can control the distance between...
Simulation models which reproduce physical behavior have been proposed to make tuning robot motion for a task such as pick-and-place (P&P) easy. This paper presents a practical simulation method for P&P with vacuum gripper using suction-cups. The method is composed of two elements, a model to estimate the quality of P&P motion and a procedure for model identification. An advantage of this...
Autonomous positioning of small objects to create heterogeneous structures has great potential to advance the current micromanipulation procedures. To achieve autonomous micromanipulation, it is required to recognize the manipulation events. In this work, different classification algorithms including five common supervised learning methods are assessed for identifying states of manipulation. The classifiers...
In this paper, we present the design, fabrication and the function of a soft actuator embedded with Low-Melting-Point Alloy (LMPA). By melting the metal via joule heating, the phase of the metal transformed from the solid state to the liquid state, by which the stiffness of the actuator changed over nearly an order of magnitude. Through a reheating-recrystallizing circle, the actuator can self-healing...
We describe the concept and first prototype of a novel mechatronic design of a robotic gripper, which aims at being mounted on a humanoid robot to achieve firm (i.e. locked) and robust grasps. Such grasps could ideally support complex multi-contact motions, such as ladder climbing, or manipulation of complex tools, with energy efficiency. For this purpose, we propose a solution by designing a smart...
In this paper, a solution for pruning tree branches close to electric power lines using a hexarotor helicopter equipped with a circular saw and a robotic gripper is proposed. The solution consists of flying to the target, in this case the branch to be pruned, fix the helicopter to it and finally, prune the tree branch with a circular saw. In this first approach, we propose a novel skew-gripper design...
We report on a novel low-computation object grasping method that can classify complex objects into primitive shapes and then select the object grasping posture based on predefined grasping postures associated with the approximated primitive shapes. In this approach, the object is not precisely modeled, and the grasping posture is selected from a small number of candidates without massive search; thus,...
Soft materials have been incorporated in the design of robotic systems particularly as a damper, cover or contact pads. With the emergence of soft robotics, which focuses on robotic devices partially or entirely made of soft materials, robotic systems with high deformability, conformability and biomimicry can be realized. By pushing the limits of low cost 3D printing, this study focuses on designing...
Early plant disease detection and treatment could dramatically increase crop yield. However, even experts cannot visually distinguish various diseases with certainty, limiting image based diagnosis. In this paper, we present a novel small unmanned aircraft system (sUAS) for phytobiopsy. This platform can remove a leaf section with visual symptoms and transport it to a lab for precise disease analysis...
This paper presents the procedure to experimentally determine the capacity of a multirotor helicopter to move payload placed in front of it. We propose a solution to maintain the stability of it during flying using one half of a landing gear acting as a tail to create counterbalance. The main aim of the proposed system is to use only the mechanical systems available in a multirotor, this due to the...
It is a characteristic features of anthropomorphous technology development at its current stage to be promoted from the sphere of production to the social life. The anthropomorphic robots have a particular place nowadays because they are capable of not only interacting with a human being but also fulfilling its actions in adverse conditions. The structure analogous to the human skeleton allows realizing...
The grippers are the main structural component of anthropomorphic robots. Modern griper is a complex multiengined system with a great number of degrees of freedom. When such grippers are designed it is necessary to decrease the weight and increase the number of mobile links. Decreasing the gripper weight is possible by means of new approaches to the construction of the system of motion transmission...
The customer specific manufacturing of stators for electric motors is based on a time-consuming and expensive process chain. For this reason, the E|Drive-Center at the Institute for Factory Automation and Production Systems (FAPS) from Friedrich-Alexander University Erlangen-Nuremberg (FAU) is researching on solutions centered on the flexible automation of these processes. In this paper a robotic-based...
Parts assembly, in a broad sense, is to make multiple objects to be in specific relative poses in contact with each other. One of the major reasons that make it difficult is uncertainty. Because parts assembly involves physical contact between objects, it requires higher precision than other manipulation tasks like collision avoidance. The key idea of this paper is to use simulation-aided physical...
Grasping an object in the presence of unpredictable disturbances and with no previous knowledge of the geometry and mass distribution of it represents a significant challenge in Robotics. Also, grasping an object with sufficient force to prevent slippage, whilst not damaging or deforming the shape of the object proves to be still an intricate challenge despite the existence of a huge body of literature...
The article focuses on modifications made on an existing gripper mounted on a teleoperated manipulator arm of the military mobile robotic system TAROS. The reason of these modifications was to allow handling of objects with a large range of weight and strength, which requires fully and precisely adjustable gripping force with feedback. The implemented solution uses a strain gauge applied to a selected...
Free-flying robots have the potential to autonomously fulfill a wide range of tasks involving manipulation of objects in space. In this paper we study the design of a wrist mechanism for free-flying robots that are equipped with an adhesive gripper for attaching to objects and surfaces. The wrist and gripper allow the robots to apply moments in addition to forces, which increases their versatility...
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