Casting device for search and rescue aiming higher and faster access in disaster site

Tsukagoshi, Hideyuki; Watari, Eyri; Fuchigami, Kazutaka; Kitagawa, Ato

doi:10.1109/iros.2012.6385520

Cited by 10 publications

(8 citation statements)

References 10 publications

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“…The highest F p among the tested surfaces is 2.8 N, or 285.7 gram‐force (gf). Considering weight of the SSG is ≈0.6 grams, the gripper can hold up to a 476 times heavier object than its body weight, which is superior to other soft suction grippers in previous works (45 [ 29 ] and 380 [ 34 ] ).…”

Section: Resultsmentioning

confidence: 93%

“…have developed a ball‐shaped casting device covered with a thermoplastic elastomer that can adhere to a surface of rough wall by suction. [ 29 ] Mazzolai et al have also covered their soft suction cups on an octopus‐inspired arm with a membrane for the purpose of isolating the entire suction system from the surrounding environment and preventing hydraulic leakage for other suction cups, if one of the suckers fail to grip the surface. [ 30 ] However, to the best of our knowledge, the proposed SSG is the first membrane‐based suction gripper with adaptive self‐sealing ability to change its size and the amount of suction purely based on passive deformation of the gripper body without sophisticating the gripper structure or relying on active components.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive Self‐Sealing Suction‐Based Soft Robotic Gripper

et al. 2021

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While suction cups prevail as common gripping tools for a wide range of real-world parts and surfaces, they often fail to seal the contact interface when engaging with irregular shapes and textured surfaces. In this work, the authors propose a suction-based soft robotic gripper where suction is created inside a self-sealing, highly conformable and thin flat elastic membrane contacting a given part surface. Such soft gripper can self-adapt the size of its effective suction area with respect to the applied load. The elastomeric membrane covering edge of the soft gripper can develop an air-tight self-sealing with parts even smaller than the gripper diameter. Such gripper shows 4 times higher adhesion than the one without the membrane on various textured surfaces. The two major advantages, underactuated self-adaptability and enhanced suction performance, allow the membrane-based suction mechanism to grip various three-dimensional (3D) geometries and delicate parts, such as egg, lime, apple, and even hydrogels without noticeable damage, which can have not been gripped with the previous adhesive microstructures-based and active suction-based soft grippers. The structural and material simplicity of the proposed soft gripper design can have a broad use in diverse fields, such as digital manufacturing, robotic manipulation, transfer printing, and medical gripping.

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Section: Resultsmentioning

confidence: 93%

Section: Introductionmentioning

confidence: 99%

Adaptive Self‐Sealing Suction‐Based Soft Robotic Gripper

et al. 2021

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“…Because throwing by a powered manipulator expands the possibility of wide range transportation of an object beyond the workspace, it is effective for carrying an object in unmanned environments e.g. disaster site (Tsukagoshi et al, 2012). Moreover, Frank has proposed an application of throwing in industrial environments for fast and long distance object manipulations without belt conveyor (Frank et al, 2008).…”

Section: Introductionmentioning

confidence: 99%

Throwing motion design based on minimum sensitivity with respect to error covariance of robot dynamic parameters

Okada

Sekiguchi

2021

Mechanical Engineering Journal

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Throwing by a powered manipulator is an effective way for wide range transportation of an object and carrying an object in unmanned environments. The main problems of throwing are (i) how far the manipulator can throw the object and (ii) the accuracy of the landing position. Focusing on (ii), this paper proposes sensitivity analysis of the landing position with respect to the error covariance of dynamic parameters. Focusing on a planar 3-DOF manipulator, (1) the minimum set of dynamic parameters is introduced and identified based on a frequency weighted method for a nonlinear system, and its error covariance is also identified. (2) The calculation algorithm for sensitivity of landing position with respect to the minimum set of dynamic parameters is proposed. (3) By considering the error covariance of identification, an optimal throwing is designed and evaluated by simulations and/or experiments. Moreover, (4) the principal of sensitivity analysis is discussed from error ellipsoid point of view, and zero error throwing is designed.

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“…In [36], a robotic arm launched a probe to a target location while the probe orientation was kept fixed during the launch motion. A system that launched an anchor ball attached to a cable was considered in [37], together with a ropeway robot moving along the launched cable after its anchor had been fixed at the target position. Notably, in a casting robot, the cable may interact not only with the launched part, but also with the environment, for instance by wrapping itself around a pole [38].…”

Section: Introductionmentioning

confidence: 99%

Modeling and Control of a Cable-Suspended Sling-Like Parallel Robot for Throwing Operations

et al. 2020

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Cable-driven parallel robots can provide interesting advantages over conventional robots with rigid links; in particular, robots with a cable-suspended architecture can have very large workspaces. Recent research has shown that dynamic trajectories allow the robot to further increase its workspace by taking advantage of inertial effects. In our work, we consider a three-degrees-of-freedom parallel robot suspended by three cables, with a point-mass end-effector. This model was considered in previous works to analyze the conditions for dynamical feasibility of a trajectory. Here, we enhance the robot’s capabilities by using it as a sling, that is, by throwing a mass at a suitable time. The mass is carried at the end-effector by a gripper, which releases the mass so that it can reach a given target point. Mathematical models are presented that provide guidelines for planning the trajectory. Moreover, results are shown from simulations that include the effect of cable elasticity. Finally, suggestions are offered regarding how such a trajectory can be optimized.

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Casting device for search and rescue aiming higher and faster access in disaster site

Cited by 10 publications

References 10 publications

Adaptive Self‐Sealing Suction‐Based Soft Robotic Gripper

Adaptive Self‐Sealing Suction‐Based Soft Robotic Gripper

Throwing motion design based on minimum sensitivity with respect to error covariance of robot dynamic parameters

Modeling and Control of a Cable-Suspended Sling-Like Parallel Robot for Throwing Operations

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