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It is very challenging for a robotic gripper to achieve large reorientations with grasped objects without accidental object ejection. This paper presents a simple gripper that can repeatedly achieve large reorientations over π/2 rad through the kinematics of the hand-object system alone, without the use of high fidelity contact sensors, complex control of active finger surfaces, or highly actuated...
This paper presents the design of a novel variable stiffness gripper with two parallel fingers (jaws). Compliance of the system is generated by using permanent magnets as the nonlinear springs. Based on the presented design, the position and stiffness level of the fingers can be adjusted simultaneously by changing the air gap between the magnets. The modeling of magnetic repulsion force and stiffness...
This paper deals with manipulation planning. First, we propose a new tool called the constraint graph to describe the various motion constraints relative to a manipulation planning problem. Then, we describe a problem arising for some manipulation planning problems called the crossed foliation issue. We propose a extension of RRT algorithm that explores the leaves of the foliations generated by motion...
In general, robot grasping approaches are based on the usage of multi-finger grippers. However, when large size objects need to be manipulated vacuum grippers are preferred, instead of finger based grippers. This paper aims to estimate the best picking place for a two suction cups vacuum gripper, when planar objects with an unknown size and geometry are considered. The approach is based on the estimation...
This paper demonstrates manipulation, workspace and dimensional synthesis process of a novel gripper named Dexclar (DEXterous reConfigurable moduLAR), which is capable to manipulate plurality of object. The aim to develop such gripper is to address some current industrial issues particularly the rising in-hand manipulation problem. Operations like twisting, flipping, altering orientation of an object,...
The ability of the underactuated adaptive gripper is to envelop the objects according to its geometric shapes. It is known that robotic grippers are a nonlinear system, and it is difficult to set up an appropriate mathematical model, so it is hard to execute a precise control. In this paper, an underactuated gripper with two adaptive fingers is presented, and a Copley servo controller (Accelnet Micro...
This paper presents an underactuated modular finger with a pull-in mechanism for a robotic gripper. Most existing robotic grippers do not have an infinite rotating mechanism. However, this movement has the potential for industrial applications such as pulling in and pushing out an object from the plane. Increasing functionality tends to lead to more operational difficulties. Therefore, we have developed...
We present the design, fabrication and feedback control of an earthworm-inspired multi-material multi-actuator soft robot capable of locomoting inside pipes. The bodies of natural earthworms are composed of repeated deformable structural units, called metameres, that generate the peristaltic body motions required for limbless underground burrowing and above-ground crawling. In an earthworm, each individual...
In this paper, we proposed a 3D printed soft robot gripper with modular design for lunch box packing. The gripper consists of a rigid base and three soft fingers. A snap-lock mechanism was designed for easy attach-detach assembly of the gripper without using screws. All components were 3D printed and the soft finger structure is based on the principle of fluidic elastomer actuator. Three finger designs,...
In a versatile, flexible robotic assembly system, robots need to reorient parts from the initial orientations to another ones appropriate for assembly tasks. Previously, we have proposed a motion strategy of a parallel gripper to reorient a part allowing release motion in its unstable orientation on a flat workbench. Toward motion planning for reorientation tasks by this strategy, it is necessary...
The current research trends of object grasping can be summarized as caging grasping and force closure grasping. The motivation of this paper is to combine the advantage of caging grasping and force closure grasping to enable under-actuated grippers like the Lacquey gripper and the parallel grippers like the PR2 gripper to quickly grasp the flat unknown objects. Inspired by the idea that caging grasping...
In typical chemistry experiments, there are many manual processes; chemistry automation is the process of automating these. In this paper, we describe work done to develop end-effectors that extend current capabilities of chemistry automation plants. The hierarchy established, the design process employed, and four end-effectors: the “Claw”, “Balloon”, “Cross”, and “Band” are presented, described,...
Climbing robots are widely used to inspect smooth walls, such as glass curtain walls and ceramic tile surfaces. However, a good adsorption method for inspecting a cliffface and dusty high-altitude buildings with small-amplitude vibration has not been found. In this study, a new adsorption method using grasping claw grippers to adhere to rough walls is proposed and applied. A mechanical model for the...
The ability to perform an accurate robotic fold is essential to obtain the properly folded garment. Available solutions rely on a rough folding surface or on a comprehensive simulation, both preventing the garment from slipping on the table during folding. This paper proposes a new algorithm for a folding path design respecting the garment material properties and preventing the garment slipping. The...
We present a damage-aware planning approach which determines the best sequence to manipulate a number of objects in a scene. This works on task-planning level, abstracts from motion planning and anticipates the dynamics of the scene using a physics simulation. Instead of avoiding interaction with the environment, we take unintended motion of other objects into account and plan manipulation sequences...
In this paper we present the first planner for the problem of Navigation Among Movable Obstacles (NAMO) on a real robot that can handle environments with under-specified object dynamics. This result makes use of recent progress from two threads of the Reinforcement Learning literature. The first is a hierarchical Markov-Decision Process formulation of the NAMO problem designed to handle dynamics uncertainty...
Shape Memory Alloy (SMA) can be used as actuators in different robotic systems. Small size and weight of SMA springs make them appropriate for micro robotic devices such as surgery grippers. In this paper, a novel gripper actuated by SMA springs is designed and fabricated. Both closing and opening of the gripper's jaws is produced by a SMA spring which is actuates by applying voltage. A Fan is also...
This article focuses on a newly built research platform (a robot). Using its vision system, it can identify round objects that are randomly scattered on a table. Then, using its gripper they are picked and placed inside a basket. The control system is tuned such that, the succession of operations runs fast and safe. In this paper we present how this has been achieved: going from concepts to design,...
The traditional grippers with multiple fingers are able to grip a variety of objects. But the structure is complex, the control is complicated and the cost is high. A novel gripper, Spherical Self-Adaptive (SSA) Gripper was developed. The SSA Gripper is capable of gripping multiple objects self-adaptively. The SSA Gripper consists of a bowl part, an elastic membrane, water, a tendon and a two-segment...
The vibration damper slippage is the most common power failure on high-voltage power lines, the special robot used to solve this problem has not yet been seen. This paper describes one of the latest solutions by presenting the design of a teleoperated robot called the “Finder”. Based on the mobile platform, the Finder can cross simple obstacles, pull back the damper to the correct position, and screw...
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