Design of a low-cost five-finger anthropomorphic robotic arm with nine degrees of freedom

Sharma, Ankit; Noel, Mathew Mithra

doi:10.1016/j.rcim.2012.01.001

Cited by 15 publications

(7 citation statements)

References 3 publications

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“…[28]), are that with the use of four nozzles, it can achieve rotation and positioning in short period of time and it is lightweight as very few actuators are needed to perform the grasping and consists of parts that can be 3D printed, reducing the cost between product changes.…”

Section: Literature Reviewmentioning

confidence: 99%

A novel pneumatic gripper for in-hand manipulation and feeding of lightweight complex parts—a consumer goods case study

Michalos

Dimoulas

Mparis

et al. 2018

Int J Adv Manuf Technol

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This paper discusses the design and implementation of a robotic gripper that uses compressed air to (a) orient the parts in the desired grasping position, (b) guide the parts inside a grasping mechanism and (c) feed the parts to a track conveyor with sufficient accuracy. The novelty of the approach lays in the ability to perform in-hand manipulation of the object by the gripper allowing to pick randomly placed objects that have a complex geometry. Unlike existing 'pick and place' operations which are mainly focused on flat objects that require minimal manipulation (rotation around vertical axis), the gripper can re-orient the parts itself, minimizing the robot's motion. The major components of the gripper are 3D printed, allowing fast customization for different products. The manipulation and gripping mechanisms have been inspired by an application in the consumer goods industry involving the feeding of shaver handles to an assembly machine. The findings indicate that the proposed solution can be an alternative to part-dedicated, high-cost feeding equipment that is currently used.

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Section: Literature Reviewmentioning

confidence: 99%

A novel pneumatic gripper for in-hand manipulation and feeding of lightweight complex parts—a consumer goods case study

Michalos

Dimoulas

Mparis

et al. 2018

Int J Adv Manuf Technol

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show abstract

“…If any catch was performing by arm then result generate before 1.6-2sec and catch accuracy about 1.5cm, for any robotic arm for catching should have an accuracy of 2cm in 5ms. [40] This robot use all parts for tracking trajectory and performing with high accuracy. [18] The position and orientation accuracy of predictions encompassing 0.5 to 0.0 s. The repeatability of this LWR 4+ is 0.05 mm.…”

Section: G Accuracy and Repeatabilitymentioning

confidence: 99%

“…Gears are also used to increase torque and to reduce speed as a controller. [40] Robotic arm electronic control system was working in both close loop as well as the open loop, it use 2ATMEGA16 L microcontroller and 7 L293D motor drivers. Each motor control 2 DC motor one is in anticlockwise and other is in clockwise all signals come from a microcontroller.…”

Section: H Motion Control and Drivementioning

confidence: 99%

Survey of robotic arm and parameters

Patidar

Tiwari

2016

2016 International Conference on Computer Communication and Informatics (ICCCI)

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This is a survey paper on a robotic arm and their development. It gives a technical introduction to some of the recent research work in this field. This is a working field of research in which there are a number of outstanding open problems and an area of exploration. Nowadays, a different variety of robotic arms are commercially available. Some of them are excellent in accuracy and repeatability. In this paper, we understand the evolution of robotic arm in last 20 years and described different parameters of an arm. Type of robotic arm only depends on these parameters. Our survey may be used for knowledge and guidelines for future research work. The paper concludes with research gaps and proposed work. Robotic arm uses in the different fields like a household, workplace, and working station. Keywords-Robotic arm, axis, degree of freedom, working envelope and space, kinematics, payload, speed and acceleration, accuracy and repeatability.I.

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“…Chalon [10] fully analyzed the structure of thumb from three aspects of biomechanical data, anatomy, and medical knowledge, and then applied it to the arm and hand system. Whether it is a two-finger [11,12], three-finger [13] or five-finger [14][15][16] dexterous hand, at least one finger has been designed to move closer to the function of the thumb. Emphasis is placed on its Front view and side view of soft-rigid hybrid hand distinctive degrees of freedom and even the drive mechanism, extending its working space to improve the gripping and handling performance of the dexterous hand.…”

Section: Introductionmentioning

confidence: 99%

Configuration Design and Verification of Soft-rigid Hybrid Hand with ab/ adduction Movement

Liu

Zhang

Liu

et al. 2021

Preprint

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Dexterous hand, as robot end effecter, is gradually showing unparalleled potential. In this paper, we proposed a novel configuration for the movement of the robot thumb metacarpal joint. Then, the force transfer efficiency of the finger structure is analyzed to reduce the demand for motor torque and realize the integration of ten motors inside the palm. Additionally, With the help of a soft-rigid hybrid palm, the contact area of the grasping object and the load capacity has increased considerably. Finally, the integrated verification is carried out on the home-made service robot, which can obtain reliable grasping of objects of various shapes and different surface features. What’s more, the robotic hand flexibly operates the infrared thermometer to measure the temperature of the water in the cup which shows a great application prospect in the field of service and industry.

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Design of a low-cost five-finger anthropomorphic robotic arm with nine degrees of freedom

Cited by 15 publications

References 3 publications

A novel pneumatic gripper for in-hand manipulation and feeding of lightweight complex parts—a consumer goods case study

A novel pneumatic gripper for in-hand manipulation and feeding of lightweight complex parts—a consumer goods case study

Survey of robotic arm and parameters

Configuration Design and Verification of Soft-rigid Hybrid Hand with ab/ adduction Movement

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