A Locally-Adaptive, Parallel-Jaw Gripper with Clamping and Rolling Capable, Soft Fingertips for Fine Manipulation of Flexible Flat Cables

Chapman, Jayden; Gorjup, Gal; Dwivedi, Anany; Matsunaga, Saori; Mariyama, Toshisada; MacDonald, Bruce A.; Liarokapis, Minas

doi:10.1109/icra48506.2021.9561970

Cited by 6 publications

(2 citation statements)

References 27 publications

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“…The paper 14 describes a locally adaptable two-finger gripper, specialized for gripping and handling, including the installation of electronic cables. Here is the precise destination of the use of this gripper.…”

Section: Introductionmentioning

confidence: 99%

Innovative self-adaptive gripper design, functional simulation, and testing prototype

Frincu

Scârneciu

Stareţu

2022

International Journal of Advanced Robotic Systems

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This article presents the design, functional simulation, and prototype of an innovative adaptive jaw gripper. First, based on the comparative analysis of several types of anthropomorphic finger grippers and adaptive jaw grippers, to avoid their disadvantages, the structural scheme of a gripper module based on a polycontour mechanism, comprising a guided parallelogram contour, was established to obtain a parallel translational movement of the elements of the jaw holders and therefore of the jaws. Then the structural analysis is briefly made to verify the correct operation of the mechanism of the gripping module, and details of the kinematic analysis and of the design of the components in the CATIA software are given. After obtaining the 3D version of the gripping module, its functional simulation and ADAMS analysis is performed. The sensory system used at the level of the jaws is also described and then the gripper assembly is obtained including a base plate and five gripper modules and as a result an adaptive gripper with five jaw holder elements is created. Next is the functional simulation of the adaptive gripper for gripping several types of parts. The prototype made and the test are presented for gripping five types of parts and we show the prospects of continuing this research with practical applicability by mounting on a robot and implementing in a robotic line for gripping and handling a series of parts of various shapes and sizes.

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Section: Introductionmentioning

confidence: 99%

Innovative self-adaptive gripper design, functional simulation, and testing prototype

Frincu

Scârneciu

Stareţu

2022

International Journal of Advanced Robotic Systems

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“…A precise knowledge of the wire pose obtained with proximity sensors in the pre-grasping phase can be used to correct the a priori knowledge on the grasping target obtained with cameras, in all the cases where vision data may be not sufficiently accurate, i.e., with small, thin and/or transparent objects [19]. The combination of 2D camera images in wire shape recognition, after a calibration procedure, can be sufficient only in specific constrained conditions [20], e.g., when the cables lie on a known flat surface (workbench plane). But in more general conditions, where the manipulation requires the estimation of the object 3D pose, an accurate 3D reconstruction in the Cartesian space by using 2D camera images is quite challenging and computationally expensive as shown in [21], for problems related to the alignment of the multiple views by considering the particular features of DLOs.…”

Section: Introductionmentioning

confidence: 99%

Wire Grasping by Using Proximity and Tactile Sensors

Cirillo

Laudante

Pirozzi

2022

2022 IEEE 5th International Conference on Industrial Cyber-Physical Systems (ICPS)

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Nowadays robots have to be able to perform increasingly complex tasks. In grasping and manipulation, the knowledge of the environment and the pose of the target object are crucial for the correct execution of the task. Vision systems are widely used for environment and object perception, but they need to be finely calibrated to obtain high accuracy and they are not able to sense small objects like thin wires. Tactile sensors could be used to explore areas close to the target object, but this "blind" physical interaction is not always feasible. This paper proposes a strategy to use a proximity sensor mounted on the robot's end effector to obtain a pose estimation of the target object that, in this study, is represented by a thin electrical wire.

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