An experimental study for grasping and pinching controls for an underactuated robotic finger using a PID controller

Inspired by the underactuated robotic hand mechanism and its feature of shape adaptive and compliant envelop grasping, the paper presents an underactuated symmetric pinch mechanism to solve the problem of pinch rollers idle and slipped or pinched too tightly. Pinch roll machine is a key device in the high-speed wire rod product line. It is usually designed with actuated symmetric pinch mechanism. The paper considered the pinching and conveying condition of linear objects and discussed the possibility of the underactuated symmetric pinch mechanism to be applied in the pinch roll machine for the first time. Three kinds of underactuated symmetric pinch mechanism solutions are presented. A displacement can be generated at the underactuated joint when the symmetric synchronous pinch action is implemented. The spring system can buff the instantaneous clamping force to reduce the dynamic impact of clamping force. Suitable design criteria are deduced from statics and kinematics analysis. In the process of pinching and conveying wire rods, the contact force is required to be kept at a constant value when the size of wire rods changes. Thus, it can protect the rod from being damaged while pinching and conveying and it can avoid the fatigue damage caused by excessive pinching impact force. Then, the pinching and conveying conditions of four different kinds of variable diameter wire rods are analyzed through 3D modeling and motion simulation experiments. Simulation results show that the proposed underactuated pinching and conveying mechanism can satisfy shape adaptive pinching and conveying irregular long-shaped wire rods. The research method is novel and feasible. The design result will be beneficial to improve the service life of the pinch roll machine.

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“…The pinch rollers’ gap between 5 and 5’ are fixed by mechanical position limitation in the machine. 26–27…”

Section: Introductionmentioning

confidence: 99%

“…The pinch rollers' gap between 5 and 5' are fixed by mechanical position limitation in the machine. [26][27] It can be computed that the DOFs of the mechanisms in Figure 2 are two. The mentioned pinch roll machines of Figure 2 have two motions: pinch rollers rotation and pinch rollers gap open and close.…”

Section: Introductionmentioning

confidence: 99%

Design criteria study and simulation for underactuated symmetric pinching mechanism of pinch roll machine in high-speed wire rod product line

Yao

Luan

Ceccarelli

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…Also, the work showed the best weight fraction and Nanomaterials can be used to reinforce the composite laminated materials. Also, other researchers investigated the different mechanical properties and behavior for various composite materials with a different biomechanical application under different load [29][30][31][32][33][34][35][36][37][38][39][40][41][42][43]. Therefore, most reinforcement used to improve the mechanical properties and behavior of composite materials did not improve its characterization more than (22%).…”

Section: Introductionmentioning

confidence: 99%

Effect of SiO2 and Al2O3 Hybrid Nano Materials on Fatigue Behavior for Laminated Composite Materials Used to Manufacture Artificial Socket Prostheses

Dakhel

Kadhim

Al-Khayat

et al. 2021

MSF

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Most artificial socket prostheses are applied to fatigue load; therefore, more failure of socket prostheses occur due to fatigue loading. Then, it was necessary to improve the fatigue characterizations of composite materials used to manufacture the artificial socket prostheses by using hybrid nanomaterials, with different types and amounts. So, this work suggested mixing two nanomaterials types to improve the mechanical and fatigue properties of composite materials. Therefore, the experimental work used to manufacture tensile and fatigue samples of composite with different nanoweight fraction effects, in addition to calculating the mechanical properties and fatigue behavior for its composite. There, strength and modulus of elasticity, in addition to, fatigue strength and life evaluating of composite with different nanomaterials mixing. Also, the numerical technique by using the finite element method is used to calculate fatigue life and strength of composite materials. Also, comparison fatigue results were calculated by experimental work with fatigue results evaluated by numerical technique to give the discrepancy for results evaluation. Hence, the comparison of results showed good agreement for the technique used to evaluate the fatigue behavior of composite materials with the nanoeffect, where, the maximum error did not exceed (11.86%). Finally, the results have shown that the reinforcement by mixing two Nanomaterial types lead to improvement in the mechanical properties and fatigue behavior to more than (35%) and increasing the mechanical properties and fatigue behavior to (10%) more than the increase of properties and fatigue characterizations reinforcement by one Nanomaterial type.

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WITHDRAWN: Optimization design of vibration characterizations for functionally graded porous metal sandwich plate structure

Njim

Bakhy

Al-Waily

2021

Materials Today: Proceedings

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An experimental study for grasping and pinching controls for an underactuated robotic finger using a PID controller

Cited by 7 publications

References 3 publications

Design criteria study and simulation for underactuated symmetric pinching mechanism of pinch roll machine in high-speed wire rod product line

Design criteria study and simulation for underactuated symmetric pinching mechanism of pinch roll machine in high-speed wire rod product line

Effect of SiO<sub>2</sub> and Al<sub>2</sub>O<sub>3</sub> Hybrid Nano Materials on Fatigue Behavior for Laminated Composite Materials Used to Manufacture Artificial Socket Prostheses

WITHDRAWN: Optimization design of vibration characterizations for functionally graded porous metal sandwich plate structure

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