Grasping devices and methods in automated production processes

Fantoni, Gualtiero; Santochi, Marco; Dini, Gino; Tracht, Kirsten; Scholz‐Reiter, Bernd; Fleischer, Jürgen; Lien, Terje K.; Seliger, G.; Reinhart, Gunther; Franke, Jöerg; Hansen, Hans Nørgaard; Verl, Alexander

doi:10.1016/j.cirp.2014.05.006

Cited by 201 publications

(88 citation statements)

References 73 publications

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“…For this reason, robotic grippers typically have a specialized design for a specific object type [10] . Soft robotics [11,12] , especially when combined with artificial skins for distributed pressure and force sensing [11,13] , offer a path towards structures where the intrinsic compliance of elastomers allows for handling complex objects with simpler control thanks to passive adaptation.…”

mentioning

confidence: 99%

Versatile Soft Grippers with Intrinsic Electroadhesion Based on Multifunctional Polymer Actuators

et al. 2015

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mentioning

confidence: 99%

Versatile Soft Grippers with Intrinsic Electroadhesion Based on Multifunctional Polymer Actuators

et al. 2015

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“…The wide variety of objects manipulated in industrial process has resulted in an extensive development of new robot grippers and robotic hands, based on different geometries and working principles [16]. The same work identifies 12 grasping principles namely friction, jaws, magnetic, suction, needle, electrostatic, Van der Waals, ice, acoustic, laser, Bernoulli and adhesive.…”

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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“…The automated assembly, which needs elaborated movements and a precautious procedure [4], lies in its primary stages of implementation and yields great research interest. When referring to deformable objects [5,6] and cabling, the latter are difficult to be manipulated and predicted in terms of their shape, especially when these parts have a complicated form and the strains are exerted dynamically [7][8][9]. The cases illustrated below are indicative of the problems that industry is faced with, when collision avoidance is desired in cabling manipulation- Fig.…”

Section: Introductionmentioning

confidence: 99%

Prediction of cabling shape during robotic manipulation

Papacharalampopoulos

Makris

Bitzios

et al. 2015

Int J Adv Manuf Technol

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The manufacturing assembly process includes the manipulation of rigid and non-rigid parts. This paper discusses a method for the estimation of the cables' shape for robotic manipulation. The paper uses methods that take into account the mechanical behaviour of materials. More specifically, in the framework of static analyses, a higher-order analytic model of cables is introduced and the need for model calibration is pointed out. To this effect, analytical solutions are compared against experimental data. In addition, the performance of computational models is taken into consideration.

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Grasping devices and methods in automated production processes

Cited by 201 publications

References 73 publications

Versatile Soft Grippers with Intrinsic Electroadhesion Based on Multifunctional Polymer Actuators

Versatile Soft Grippers with Intrinsic Electroadhesion Based on Multifunctional Polymer Actuators

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

Prediction of cabling shape during robotic manipulation

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