Method for Supporting the Selection of Robot Grippers

Fantoni, Gualtiero; Capiferri, Saverio; Tilli, Jacopo

doi:10.1016/j.procir.2014.03.152

Cited by 36 publications

(12 citation statements)

References 10 publications

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“…The decision tree depicted in Figure 11 might be further developed to an expert system. Fantoni et al [88] proposed a method for supporting the selection of robot grippers. Potentially, their expert system could be extended to the microscale and be considered for metrological applications.…”

Section: Discussionmentioning

confidence: 99%

Microclamping principles from the perspective of micrometrology – A review

Jantzen

Stein

Kniel

et al. 2017

Precision Engineering

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This paper gives an overview of the field of clamping and gripping principles from the viewpoint of sample fixturing for dimensional metrology for microobjects. The requirements for clamping microcomponents that allow dimensional measurements are therefore explained before principles and solutions of microclamps as found in literature are reviewed and evaluated on basis of these requirements. Results show that there is no single superior clamping principle or method of implementation but rather several effective solutions for specific applications. The core value of this paper is the link between requirements for sample fixturing in dimensional micrometrology and the many approaches already investigated in the field of microclamping. A radar chart and a decision tree summarize and visualize the major aspects of this review. Finally, directions of future key research areas are suggested.

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Section: Discussionmentioning

confidence: 99%

Microclamping principles from the perspective of micrometrology – A review

Jantzen

Stein

Kniel

et al. 2017

Precision Engineering

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“…Some papers [9,14,16,17,20,24,[26][27][28]31,35,36] present methods of creating gripping devices for specific types of objects. In [10,15,18,21,22,25,[29][30][31]35,37], work is widely carried out under the classification of gripping devices of industrial robots. The methods of recognition [19,23], grasping [13,18,32,33], and manipulation [8,11,12,34] for different gripping devices vary greatly and depend on the object.…”

Section: Introductionmentioning

confidence: 99%

Influence of Inlet Parameters on Power Characteristics of Bernoulli Gripping Devices for Industrial Robots

Mykhailyshyn

Xiao

2022

Applied Sciences

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There is a wide variety of gripping devices with various parameters at the present stage of development of robotics. However, the existing literature about the power characteristics of pneumatic gripping devices does not provide any analysis of the different types of input parameters other than supply pressure and flow characteristics, whereas the input parameters completely determine the technical characteristics of the gripping devices of industrial robots. In particular, for pneumatic grippers, the input parameters play a crucial role in their productivity and energy efficiency. This paper fills the gap by providing a study of the impact of such parameters on the power and energy characteristics of Bernoulli ejection grippers for industrial robots, including: the parameters of the compressed air inlet design, the parameters of the fitting for compressed air supply, the diameter of the hose for compressed air supply, and the size of the vacuum zone. First, this paper presents the results of theoretical studies and finite element method for determining the distribution of pressure on the surface of an object of manipulation, which allows one to determine the lifting force of the Bernoulli gripping devices of an industrial robot. It is determined that the horizontal air flow to the capture chamber, compared with that of the vertical, should be used to ensure the maximum possible lifting force. Structures and constriction in fittings, which are used to supply compressed air to the chamber of Bernoulli gripping devices, are considered. Then, the dependencies of the influence of narrowing the fittings on the power characteristics of gripping devices are presented.

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“…Automated handling of parts, which adds up to about 50 % of all robot-guided processes in production environments [1] and usually even exceeds the time used for actual machining [2], is often realized by means of vacuum-based handling techniques [3], in particular in the automotive field and for packaging tasks [2,4]. For industrial high-volu-me handling applications, vacuum is typically generated pneumatically through ejectors, due to their fast and wear-free operation and the direct integrability into gripper systems.…”

Section: Introductionmentioning

confidence: 99%

Modeling of vacuum grippers for the design of energy efficient vacuum-based handling processes

Gabriel

Fahning

Meiners

et al. 2020

Prod. Eng. Res. Devel.

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Vacuum-based handling is widely used in industrial production systems, particularly for hand-ling of sheet metal parts. The process design for such handling tasks is mostly based on approximate calculations and best-practice experience. Due to the lack of detailed knowledge about the parameters that significantly influence the seal and force transmission behavior of vacuum grippers, these uncertainties are encountered by oversizing the gripping system by a defined safety margin. A model-based approach offers the potential to overcome this limitation and to dimension the gripping system based on a more exact prediction of the expected maximum loads and the resulting gripper deformation. In this work, we introduce an experiment-based modeling method that considers the dynamic deformation behavior of vacuum grippers in interaction with the specific gripper-object combination. In addition, we demonstrate that for these specific gripper-object combinations the gripper deformation is reversible up to a certain limit. This motivates to deliberately allow for a gripper deformation within this stability range. Finally, we demonstrate the validity of the proposed modeling method and give an outlook on how this method can be implemented for robot trajectory optimization and, based on that, enable an increase of the energy efficiency of vacuum-based handling of up to 85%.

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Method for Supporting the Selection of Robot Grippers

Cited by 36 publications

References 10 publications

Microclamping principles from the perspective of micrometrology – A review

Microclamping principles from the perspective of micrometrology – A review

Influence of Inlet Parameters on Power Characteristics of Bernoulli Gripping Devices for Industrial Robots

Modeling of vacuum grippers for the design of energy efficient vacuum-based handling processes

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