Design of Distributed End-Effectors for Caging-Specialized Manipulator

Fukui, Rui; Kadowaki, Keita; Niwa, Yamato; Wan, Weiwei; Shimosaka, Masamichi; Sato, Tomomasa

doi:10.1007/978-3-319-00065-7_2

Cited by 9 publications

(4 citation statements)

References 14 publications

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“…where 𝜇𝜇 𝑘𝑘𝑛𝑛 is the kinetic friction coefficient. From (6), the relationship between the balances is rewritten as…”

Section: ) Sms Mechanism Amentioning

confidence: 99%

Single-Motor Robotic Gripper With Three Functional Modes for Grasping in Confined Spaces

Nishimura,

Watanabe

2023

IEEE Robot. Autom. Lett.

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This study proposes a novel robotic gripper driven by a single motor. The main task is to pick up objects in confined spaces. For this purpose, the developed gripper has three operating modes: grasping, finger-bending, and pull-in modes. Using these three modes, the developed gripper can rotate and translate a grasped object, i.e., can perform in-hand manipulation. This in-hand manipulation is effective for grasping in extremely confined spaces, such as the inside of a box in a shelf, to avoid interference between the grasped object and obstacles. To achieve the three modes using a single motor, the developed gripper is equipped with two novel self-motion switching mechanisms. These mechanisms switch their motions automatically when the motion being generated is prevented. An analysis of the mechanism and control methodology used to achieve the desired behavior are presented. Furthermore, the validity of the analysis and methodology are experimentally demonstrated. The gripper performance is also evaluated through the grasping tests.

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“…where 𝜇𝜇 𝑘𝑘𝑛𝑛 is the kinetic friction coefficient. From (6), the relationship between the balances is rewritten as…”

Section: ) Sms Mechanism Amentioning

confidence: 99%

Single-Motor Robotic Gripper With Three Functional Modes for Grasping in Confined Spaces

Nishimura,

Watanabe

2023

IEEE Robot. Autom. Lett.

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“…Hernandez et al proposed a gripper with pinch-and-suction mechanisms [4]. Fukui et al developed a robotic hand with thin nails to grasp objects in a box [5]. Negrello et al designed a robotic wrist to expand the operating range of a manipulator for a task within a narrow space [6].…”

Section: A Related Workmentioning

confidence: 99%

“…In addition, several robotic grippers with thin fingers, such as those described in [5], have been developed. Wang et al designed a pneumatic gripper with needles for handling food products [8].…”

Section: A Related Workmentioning

confidence: 99%

Single-Fingered Reconfigurable Robotic Gripper With a Folding Mechanism for Narrow Working Spaces

Nishimura

Muryoe

Asama

et al. 2022

IEEE Robot. Autom. Lett.

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This paper proposes a novel single-fingered reconfigurable robotic gripper for grasping objects in narrow working spaces. The finger of the developed gripper realizes two configurations, namely, the insertion and grasping modes, using only a single motor. In the insertion mode, the finger assumes a thin shape such that it can insert its tip into a narrow space. The grasping mode of the finger is activated through a folding mechanism. Mode switching can be achieved in two ways: switching the mode actively by a motor, or combining passive rotation of the fingertip through contact with the support surface and active motorized construction of the claw. The latter approach is effective when it is unclear how much finger insertion is required for a specific task. The structure provides a simple control scheme. The performance of the proposed robotic gripper design and control methodology was experimentally evaluated. The minimum width of the insertion space required to grasp an object is 4 mm (1 mm, when using a strategy).

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“…1 for grasping. For the other, it is suitable for our self-designed caging manipulator [9] where the fingers are fully decentralized. Each finger of our caging manipulator can be actuated independently to cage objects in planer view.…”

Section: Introductionmentioning

confidence: 99%