Casting Manipulation—Midair Control of a Gripper by Impulsive Force

Arisumi, Hitoshi; Yokoi, Kazuhito; Komoriya, Kiyoshi

doi:10.1109/tro.2008.918055

Cited by 26 publications

(16 citation statements)

References 25 publications

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“…In [35] the claw is launched using a swinging motion while the range is measured by a laser range sensor. One end of the claw is attached to the base by a string.…”

Section: Grippers For Known Environmentsmentioning

confidence: 99%

State of the Art Robotic Grippers and Applications

et al. 2016

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Abstract:In this paper, we present a recent survey on robotic grippers. In many cases, modern grippers outperform their older counterparts which are now stronger, more repeatable, and faster. Technological advancements have also attributed to the development of gripping various objects. This includes soft fabrics, microelectromechanical systems, and synthetic sheets. In addition, newer materials are being used to improve functionality of grippers, which include piezoelectric, shape memory alloys, smart fluids, carbon fiber, and many more. This paper covers the very first robotic gripper to the newest developments in grasping methods. Unlike other survey papers, we focus on the applications of robotic grippers in industrial, medical, for fragile objects and soft fabrics grippers. We report on new advancements on grasping mechanisms and discuss their behavior for different purposes. Finally, we present the future trends of grippers in terms of flexibility and performance and their vital applications in emerging areas of robotic surgery, industrial assembly, space exploration, and micromanipulation. These advancements will provide a future outlook on the new trends in robotic grippers.

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“…In [35] the claw is launched using a swinging motion while the range is measured by a laser range sensor. One end of the claw is attached to the base by a string.…”

Section: Grippers For Known Environmentsmentioning

confidence: 99%

State of the Art Robotic Grippers and Applications

et al. 2016

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“…This concept is similar to that of the casting manipulator [1][2] [3], but it is almost impossible to achieve zero velocity of the end-effector at a remote target point by casting manipulator.…”

Section: A Concept Of Shooting Manipulationmentioning

confidence: 99%

“…Arisumi et al developed the casting manipulator where an end-effector connected with a flexible string is cast by swinging a rigid arm like in fishing [1][2] [3]. However, swing motion yields a rotation of the end-effector.…”

Section: Introductionmentioning

confidence: 99%

Shooting manipulation system with high reaching accuracy

Hatakeyama

Mochiyama

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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In this paper, we propose a shooting manipulation system for manipulating a distant object in an instant. The proposed system mechanistically acts on a remote target by constraining an end-effector catapulted by an impulsive air flow through a flexible string connected with an elastic cantilever. Experimental results shows that the proposed shooting manipulation system has excellent basic performances such as high motion straightness of a reaching path, quickness in a turning motion, and high reaching accuracy in spite of its simplicity. Furthermore, we show that, by making full use of the basic performances of the proposed system, it is possible to realize a quick capturing of a falling object 0.7[m] away with a high success rate of 92 percents.

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“…After swinging the arm repeatedly to store the kinetic energy, the end-effecter is launched to the target by changing the length of the wire [1,2]. While the end-effecter flies, its trajectory is controlled by the tension of the wire [3]. The gripper then approaches the target with suitable state, and catches the target object [4].…”

Section: Introductionmentioning

confidence: 99%

Launching penetrator by casting manipulator system

Arisumi

Otsuki

Nishida

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Supposing a space mission of setting monitoring devices at suitable positions on the moon, we discuss how to apply a casting manipulation to the mission. This paper addresses a mechanism of a casting manipulator system and control method to launch a penetrator to the desired position. First, we discuss launching methods, and focus on a method by using rotation of a boom. We then propose the mechanism that keeps a posture of the penetrator equipped at the tip of the boom constant for the absolute coordinate system during its rotation. This mechanism prevents the wire which connects the penetrator and the robot's base from winding the boom. Analyzing a position error of landing point caused by delay of releasing the penetrator, we propose the motion control of the boom to reduce the error. Finally, we develop the system and verify the effectiveness of the proposed method through experiment.

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Casting Manipulation—Midair Control of a Gripper by Impulsive Force

Cited by 26 publications

References 25 publications

State of the Art Robotic Grippers and Applications

State of the Art Robotic Grippers and Applications

Shooting manipulation system with high reaching accuracy

Launching penetrator by casting manipulator system

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