Coupling Mechanisms for Multi-Fingered Robotic Hands with Skew Axes

Deemyad, Taher; Hassanzadeh, Neda; Pérez-Gracia, Alba

doi:10.1007/978-3-030-00365-4_41

Cited by 7 publications

(5 citation statements)

References 16 publications

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“…Thus, the new generation of response robots has complex manipulation systems that often makes the operation more difficult. From DOF to joint arrangements, how can a manipulation system be flexible and dexterous [31,32] enough for the requirements of a response robot ("System requirements" section)? By defining applications and work environments, how can we design the workspace sufficient enough for all tasks?…”

Section: Conceptual Designmentioning

confidence: 99%

Design and implementation of a maxi-sized mobile robot (Karo) for rescue missions

et al. 2021

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Rescue robots are expected to carry out reconnaissance and dexterity operations in unknown environments comprising unstructured obstacles. Although a wide variety of designs and implementations have been presented within the field of rescue robotics, embedding all mobility, dexterity, and reconnaissance capabilities in a single robot remains a challenging problem. This paper explains the design and implementation of Karo, a mobile robot that exhibits a high degree of mobility at the side of maintaining required dexterity and exploration capabilities for urban search and rescue (USAR) missions. We first elicit the system requirements of a standard rescue robot from the frameworks of Rescue Robot League (RRL) of RoboCup and then, propose the conceptual design of Karo by drafting a locomotion and manipulation system. Considering that, this work presents comprehensive design processes along with detail mechanical design of the robot’s platform and its 7-DOF manipulator. Further, we present the design and implementation of the command and control system by discussing the robot’s power system, sensors, and hardware systems. In conjunction with this, we elucidate the way that Karo’s software system and human–robot interface are implemented and employed. Furthermore, we undertake extensive evaluations of Karo’s field performance to investigate whether the principal objective of this work has been satisfied. We demonstrate that Karo has effectively accomplished assigned standardized rescue operations by evaluating all aspects of its capabilities in both RRL’s test suites and training suites of a fire department. Finally, the comprehensiveness of Karo’s capabilities has been verified by drawing quantitative comparisons between Karo’s performance and other leading robots participating in RRL.

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Section: Conceptual Designmentioning

confidence: 99%

Design and implementation of a maxi-sized mobile robot (Karo) for rescue missions

et al. 2021

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“…Over-constrained mechanisms with zero or negative mobility are considered structures, and they cannot create any motion. However, some exceptional cases with negative mobility are still movable based on their particular geometry (e.g., Bennett linkage [30]). In the current mechanism, based on the geometry of its axes of motion, mobility can be considered in the subgroup of motion and can be analyzed as a planar motion.…”

Section: Kinematic Analysismentioning

confidence: 99%

Using A Rotary Spring-Driven Gripper to Manipulate Objects of Diverse Sizes and Shapes

Lama,

Deemyad

2023

Applied Sciences

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This paper introduces a new gripper mechanism that is capable of grasping objects of various sizes and shapes without the need for a closed-loop control system. Industries such as the food and beverage industry are seeking innovative soft grippers with a simplified control system. The proposed design utilizes a rotary mechanism with springs to achieve both force-closure and form-closure grasping. The design sets itself apart from most soft grippers with its ability to offer grasping forces in all lateral directions. The gripper is designed in a cylindrical shape and is actuated by a stepper motor with a gearbox to enhance the torque. Three stacked curvilinear and linear rails convert the motor’s rotational motion into linear motion. The grasping component consists of three curved parts, each incorporating numerous compression springs. Currently, the gripper can effectively grasp objects ranging from five to nine centimeters in diameter, with a maximum height of ten centimeters. However, the design is scalable based on specific application requirements. A comprehensive CAD model of the mechanism was developed, and multiple analyses were conducted, including motion, topology, and stress analyses. Finally, a functional prototype of the gripper was constructed and successfully tested for grasping fruits and vegetables of different sizes and shapes. This research can be further expanded to explore the application of the gripper in space exploration with its novel and completely electro-mechanical foundation.

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“…On the other hand, the total weight that a robot can lift is partially dependent on the gripper (end-effector) it is carrying. This is one of the main concerns of designers, which can be solved by minimizing the number of actuators, applying the optimization algorithms, and making the parts hollow [1,4,13,14]. These parameters become even more important in designing a gripper for robotic arms with limitations in maximum load (most small industrial robots) as well as mobile robotic arms, like an autonomous robot with a robotic arm in a radiation zone [12].…”

Section: Introductionmentioning

confidence: 99%

Design and Implementation of a Compliant Gripper for Form Closure of Diverse Objects

Bingham,

Hessler,

Lama

et al. 2023

Applied Sciences

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This research presents a comprehensive study on the design and implementation of a flexible robotic gripper. Conventional grippers utilized in articulated robotic arms are often limited in their capabilities, being restricted to specific tasks or fixed object sizes. While soft grippers are a viable option, they have limitations in terms of grasping objects across a wide range and providing complete coverage. In this study, a novel compressible gripper is developed to enable safe and secure grasping of objects with varying sizes and shapes within a wide range. The gripper features a grasping area measuring 14 cm × 6 cm, allowing complete coverage of objects within this surface area. The current prototype with 7 cm of compressibility demonstrates the ability to grasp objects with a width difference of 7 cm with a maximum thickness of 15 cm, enabling manipulation of objects with varying widths, as defined by user-programmable parameters. The functionality of the gripper is based on the compressibility of the 3D-printed thermoplastic polyurethane (TPU) material. The flexible part of the gripper can be easily interchanged, offering versatility by accommodating different thicknesses without the need to replace the entire gripper mechanism. The gripper system operates using an open-loop control system, enhancing user-friendliness. Experimental evaluation of the gripper involved the creation and analysis of a CAD model followed by the fabrication of a prototype. The prototype exhibited exceptional performance in grasping objects of diverse sizes, shapes, and textures, demonstrating the effectiveness of the developed soft gripper system. The scalability of the soft gripper enables seamless integration with various types of articulated robotic arms, while the maximum weight limit for objects will be defined based on the robotic arms’ limitations. The research findings highlight the promising capabilities of the compressible gripper in enhancing the versatility and efficiency of robotic grasping systems, offering a significant contribution to the field of robotics.

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Coupling Mechanisms for Multi-Fingered Robotic Hands with Skew Axes

Cited by 7 publications

References 16 publications

Design and implementation of a maxi-sized mobile robot (Karo) for rescue missions

Design and implementation of a maxi-sized mobile robot (Karo) for rescue missions

Using A Rotary Spring-Driven Gripper to Manipulate Objects of Diverse Sizes and Shapes

Design and Implementation of a Compliant Gripper for Form Closure of Diverse Objects

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