Development of multi-purpose universal gripper

Choi, Myoung‐Su; Lee, Dong-Hyuk; Park, Hyeonjun; Kim, Young‐Jin; Jang, Ga-Ram; Shin, Yong-Deuk; Park, Jae‐Han; Baeg, Moon-Hong; Bae, Ji‐Hun

doi:10.23919/sice.2017.8105739

Cited by 14 publications

(4 citation statements)

References 3 publications

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“…Thus, problems arise with an inefficient operation of a robot in case of miscalculations in the design or/and an inability to adjust the arm to a new task. One of the solutions is to unify the hand [4].…”

Section: Introductionmentioning

confidence: 99%

Construction of Anthropomorphic Grippers with Adaptive Control

Dudorov,

Zhdanova,

Zhidenko

et al. 2024

Proceedings of International Conference on Artificial Life and Robotics

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The functionality of industrial robots is provided primarily by the capabilities of their end effectors. The limited capabilities of robotic grippers determined the transition to the creation of anthropomorphic grippers. The number of degrees of freedom (DOF) of the end effector in the form of an anthropomorphic hand ensuring reliable grasping and holding the object should be at least nine, preferably twelve. The implementation of such a design is possible only when switching to the principle of construction of an underactuated grippers system. This paper presents the concept of constructing a group drive, which ensures the implementation of the movement of the output links of two or more executive groups from one motor. Technical solutions are based on the development of methods for analyzing complex mechanical systems using functional circuits.

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Section: Introductionmentioning

confidence: 99%

Construction of Anthropomorphic Grippers with Adaptive Control

Dudorov,

Zhdanova,

Zhidenko

et al. 2024

Proceedings of International Conference on Artificial Life and Robotics

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“…The paper is structured into main sections summarising design, methods, results, and learnings, with subsections dedicated to the respective RoboSoft competitions of 2021, 2022, and 2023. A table is provided for a high-level comparison of the grippers used in the respective RoboSoft competitions to the other state-of-the-art multipurpose grippers ( Table 1 ) ( Amend and Lipson, 2017 ; Choi et al, 2017 ; Chin et al, 2020 ; Wang et al, 2021 ; Alici and Richards, 2023 ; Zhu et al, 2023 ). The design section describes the elements of the vacuum-actuated hybrid soft gripper, emphasizing the specific features integrated to align with the competition tasks.…”

Section: Introductionmentioning

confidence: 99%

Applications of a vacuum-actuated multi-material hybrid soft gripper: lessons learnt from RoboSoft manipulation challenge

Dontu,

Kanhere,

Stalin

et al. 2024

Front. Robot. AI

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Soft grippers are garnering increasing attention for their adeptness in conforming to diverse objects, particularly delicate items, without warranting precise force control. This attribute proves especially beneficial in unstructured environments and dynamic tasks such as food handling. Human hands, owing to their elevated dexterity and precise motor control, exhibit the ability to delicately manipulate complex food items, such as small or fragile objects, by dynamically adjusting their grasping configurations. Furthermore, with their rich sensory receptors and hand-eye coordination that provide valuable information involving the texture and form factor, real-time adjustments to avoid damage or spill during food handling appear seamless. Despite numerous endeavors to replicate these capabilities through robotic solutions involving soft grippers, matching human performance remains a formidable engineering challenge. Robotic competitions serve as an invaluable platform for pushing the boundaries of manipulation capabilities, simultaneously offering insights into the adoption of these solutions across diverse domains, including food handling. Serving as a proxy for the future transition of robotic solutions from the laboratory to the market, these competitions simulate real-world challenges. Since 2021, our research group has actively participated in RoboSoft competitions, securing victories in the Manipulation track in 2022 and 2023. Our success was propelled by the utilization of a modified iteration of our Retractable Nails Soft Gripper (RNSG), tailored to meet the specific requirements of each task. The integration of sensors and collaborative manipulators further enhanced the gripper’s performance, facilitating the seamless execution of complex grasping tasks associated with food handling. This article encapsulates the experiential insights gained during the application of our highly versatile soft gripper in these competition environments.

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“…The arm must support its weight as well as the weight of the gripper, plus the weight of whatever objects it grasps. Thus, a heavy multipurpose gripper for robotic arms can be a major drawback [16].…”

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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Development of multi-purpose universal gripper

Cited by 14 publications

References 3 publications

Construction of Anthropomorphic Grippers with Adaptive Control

Construction of Anthropomorphic Grippers with Adaptive Control

Applications of a vacuum-actuated multi-material hybrid soft gripper: lessons learnt from RoboSoft manipulation challenge

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

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