Application of a Biphasic Actuator in the Design of the CloPeMa Robot Gripper

Le, Loan; Zoppi, Matteo; Jilich, Michal; Han, Bo; Zlatanov, Dimiter; Molfino, Rezia

doi:10.1115/1.4029292

Cited by 15 publications

(8 citation statements)

References 12 publications

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“…Focusing on high-precision picking, Le et al [15] developed an end-effector equipped with proximity sensing abilities. Nagata et al [16] proposed a towelpicking method using touch sensors.…”

Section: Cloth Manipulation Systemmentioning

confidence: 99%

A Robotic End-Effector With Rolling up Mechanism for Pick-and-Release of a Cotton Sheet

Abe¹,

Kawasaki²,

Yamazaki³

2020

Preprint

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In this paper we introduce a novel robotic end-effector for pick-and-release of a sheet of cotton cloth. One of the main operations in a factory for sewing cloth products is to pick up cloth parts, provide them to a sewing machine, and sew them together. Fabric products are assembled by performing this work in various processes. Each work starts with a lot of cloth parts stacked near a sewing machine. In the case of underwear, thin cotton cloth is the target of manipulation, but such cloth parts tend to stick to each other, and a certain knack is required for picking up. Therefore, this work is basically done manually in the present. The purpose of this study is to automate such manipulation, so we devise an end-effector that picks up only the top one of stacked cotton sheets. The proposed end-effector has a mechanism that is a cylindrical brush attached with a remover cloth on its surface. The cylinder brush is grounded on a cotton sheet, and then is rotated to roll up only the cotton sheet. This mechanism makes it possible to release the sheet by rotating the brush in the reverse. We constructed hardware with this function and attached it to the tip of a robotic manipulator. In addition, we performed system integration so that the initial position of rolling up a cotton sheet could be automatically determined from images taken by a camera. We also conducted evaluation experiments.

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Section: Cloth Manipulation Systemmentioning

confidence: 99%

A Robotic End-Effector With Rolling up Mechanism for Pick-and-Release of a Cotton Sheet

Abe¹,

Kawasaki²,

Yamazaki³

2020

Preprint

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“…e p = P 1 + P 2 2 − P ref (10) e p = −λe p (11) Expanding and solving (9) and (11) for q i allows to control the position and stiffness of the system as shown in (12), (13), (14), (15), (16) and (17).…”

Section: Modeling Of Bmvsamentioning

confidence: 99%

“…1b shows a design that is convenient due to its modularity, where the gas fraction is contained in hydropneumatic accumulators (HPAs) that can be easily replaced. Some implementations of the system are industrial grippers for garment handling [10]- [12], surgical robotics concepts, suspension systems for mobile platforms [9] and actuation of revolute joints [8].…”

Section: Introductionmentioning

confidence: 99%

Position and Stiffness Control of One DoF Revolute Joint Using a Biphasic Media Variable Stiffness Actuator

Lugo¹,

Caligiuri²,

Zoppi³

et al. 2019

2019 Third IEEE International Conference on Robotic Computing (IRC)

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At this time, several industrial processes and service tasks need safe interactions between humans and robots. This safety can be achieved using compliance design and control of mechanisms. This paper presents a compliant revolute joint mechanism using a variable stiffness actuator. The method for adapting the stiffness in the actuator includes a member configured to transmit motion that is connected to a fluidic circuit, into which a biphasic control fluid circulates. Actuator's stiffness is controlled by changing pressure of control fluid into distribution lines. The used control fluid is biphasic, composed of separated gas and liquid fractions with predefined ratio. A mathematical model of the actuator is presented, a modelbased control method is implemented to track the desired position and stiffness, and equations relating to the dynamics of the mechanism are provided. Results from force loaded and unloaded simulations and experiments with a physical prototype are discussed.

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“…Expanding and solving (7) and (9) for q i allows to control the position and stiffness of the system as shown in (10), (11), (12), (13), (14) and (15).…”

Section: R a F T˙ementioning

confidence: 99%

“…Figure 1 shows a design that is convenient due to its modularity, where the gas fraction is contained in hydropneumatic accumulators (HPAs) that can be easily replaced according to the requiered range of compliance. Some implementations of the system are industrial grippers for garment handling [12]- [14], surgical robotics concepts, suspension systems for mobile platforms [11] and actuation of revolute joints [10]. Pressure and flow control valves are included in the hydraulic circuit with aim of controlling stiffness of the actuator.…”

Section: Introductionmentioning

confidence: 99%

Modeling of a Cable-Based Revolute Joint Using Biphasic Media Variable Stiffness Actuation

Calles¹,

Ramadoss²,

Zoppi³

et al. 2019

2019 Third IEEE International Conference on Robotic Computing (IRC)

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In recent times, safe interactions between humans and robots are required for innumerable tasks and environments. This safety can be achieved using compliance design and control of mechanisms. Cable-driven mechanisms are used when applications need to have light structures, meaning that their actuators must be relocated to ground and forces are transferred along tensioned cables. This paper presents a compliant cable-driven revolute joint using biphasic media variable stiffness actuators. Actuator's stiffness is controlled by changing pressure of control fluid into distribution lines. The used control fluid is biphasic, composed of separated gas and liquid fractions with predefined ratio. The mathematical model of the actuator is presented along with its position and stiffness model-based control, then, equations relating to the dynamics of the mechanism are provided with a joint stiffness and orientation controller. Results from simulations are discussed.

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Application of a Biphasic Actuator in the Design of the CloPeMa Robot Gripper

Cited by 15 publications

References 12 publications

A Robotic End-Effector With Rolling up Mechanism for Pick-and-Release of a Cotton Sheet

A Robotic End-Effector With Rolling up Mechanism for Pick-and-Release of a Cotton Sheet

Position and Stiffness Control of One DoF Revolute Joint Using a Biphasic Media Variable Stiffness Actuator

Modeling of a Cable-Based Revolute Joint Using Biphasic Media Variable Stiffness Actuation

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