An underactuated adaptive 3D printed robotic gripper

Telegenov, Kuat; Tlegenov, Yedige; Shintemirov, Almas

doi:10.1109/mecatronics.2014.7018563

Cited by 17 publications

(10 citation statements)

References 11 publications

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“…Based on the BIM 3D visualization feature, RPA robot management platform realizes the digital twin of BIM technology-based server room operation and maintenance [32]. In this case, in order to optimize the performance of front-end BIM model rendering, through the following three technical ways to meet the real-time WEB front-end and mobile model detail rendering requirements [32][33][34][35].…”

Section: The Established Bim-based Of Facility Management Systemmentioning

confidence: 99%

Using RPA+BIM for High Efficient Operation of Smart Building's Equipment Room

Jiang¹,

Ling²

2022

Preprint

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Base on building information modeling(BIM) plus with Robotic process automation (RPA) technology is rapid development in smart building operations and maintenance (O&M). RPA is a workflow-based automated execution tool that is particularly well suited for replacing manual execution of simple and repetitive tasks using computer systems. The use of RPA technology can saves man-hours and increases productivity, which is important for the automation of building operations and maintenance operations.. The BIM technology, as an advanced technology in the construction industry, it can provide new ideas and methods for building operation and maintenance based on its visualization characteristics. That’s integrating RPA with BIM technology which will enhance the digitalization and virtualization of smart building operation and management. In this article will first introduce the features of RPA and BIM technology and then discuss the technical roadmap for remote automated operation and maintenance of smart building equipment room to implemention a low-cost and high efficient building equipment room operation and maintenance solution.

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Section: The Established Bim-based Of Facility Management Systemmentioning

confidence: 99%

Using RPA+BIM for High Efficient Operation of Smart Building's Equipment Room

Jiang¹,

Ling²

2022

Preprint

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“…Dechev et al (2001) and Massa et al (2002) use compression springs in a spring-loaded slider . Other implementations include a linear spring at fingertip tendon termination (Carrozza et al, 2004), a spring-loaded worm drive (Telegenov et al, 2014), helical torsion springs (Edsinger-Gonzales and Weber, 2004) or a spiral spring shaft-coupler (Chu et al, 2008). Torsional spring series-elastic actuators have also been applied to human–robot interfaces and robot joints with the advantage of impact safety (Edsinger-Gonzales and Weber, 2004; Hu et al, 2011; Kong et al, 2012; Rahman, 2012).…”

Section: Related Prior Workmentioning

confidence: 99%

The Ocean One hands: An adaptive design for robust marine manipulation

Stuart

Wang

Khatib

et al. 2017

The International Journal of Robotics Research

135

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Underactuated, compliant, tendon-driven robotic hands are suited for deep-sea exploration. The robust Ocean One hand design utilizes elastic finger joints and a spring transmission to achieve a variety of pinch and wrap grasps. Compliance in the fingers and transmission determines the degree of load-sharing among contacts and the hands' ability to secure irregularly shaped objects. However, it can also decrease external grasp stiffness and acquisition reliability. SimGrasp, a flexible dynamic hand simulator, enables parametric studies of the hand for acquisition and pull-out tests with varying transmission spring rates. In the present application, we take advantage of achieving different stiffnesses by reversing the direction of tendon windup using a torsional spring-loaded winch. With this provision, the hand can be relatively soft for handling delicate objects and stiff for tasks requiring strength. Two hands were field-tested as part of the Ocean One humanoid platform, which acquired a vase from the La Lune shipwreck site at a 91 m depth in the Mediterranean Sea.

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“…The detailed presentation of the breakaway clutch mechanism is outlined in [38]. The architecture of the breakaway clutch mechanism for a single finger consists of two helical gears, a worm wheel, a worm and a compression spring and is shown in Fig.…”

Section: A Adaptive Gripper With a Breakaway Clutch Mechanismmentioning

confidence: 99%

A Low-Cost Open-Source 3-D-Printed Three-Finger Gripper Platform for Research and Educational Purposes

2015

Self Cite

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Robotics research and education have gained significant attention in recent years due to increased development and commercial deployment of industrial and service robots. A majority of researchers working on robot grasping and object manipulation tend to utilize commercially available robotmanipulators equipped with various end effectors for experimental studies. However, commercially available robotic grippers are often expensive and are not easy to modify for specific purposes. To extend the choice of robotic end effectors freely available to researchers and educators, we present an open-source lowcost three-finger robotic gripper platform for research and educational purposes. The 3-D design model of the gripper is presented and manufactured with a minimal number of 3-D-printed components and an off-the-shelf servo actuator. An underactuated finger and gear train mechanism, with an overall gripper assembly design, are described in detail, followed by illustrations and a discussion of the gripper grasping performance and possible gripper platform modifications. The presented open-source gripper platform computer-aided design model is released for downloading on the authors research lab website (www.alaris.kz) and can be utilized by robotics researchers and educators as a design platform to build their own robotic end effector solutions for research and educational purposes. INDEX TERMSOpen-source robotic gripper, gear train mechanism, 3D printing, underactuation, adaptive grasping. 638 2169-3536

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An underactuated adaptive 3D printed robotic gripper

Cited by 17 publications

References 11 publications

Using RPA+BIM for High Efficient Operation of Smart Building's Equipment Room

Using RPA+BIM for High Efficient Operation of Smart Building's Equipment Room

The Ocean One hands: An adaptive design for robust marine manipulation

A Low-Cost Open-Source 3-D-Printed Three-Finger Gripper Platform for Research and Educational Purposes

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