Pinch Grasp and Suction for Delicate Object Manipulations Using Modular Anthropomorphic Robotic Gripper with Soft Layer Enhancements

Vedhagiri, Godwin Ponraj Joseph; Prituja, A. V.; Li, Changsheng; Zhu, G.; Thakor, Nitish V.; Ren, Hongliang

doi:10.3390/robotics8030067

Cited by 10 publications

(3 citation statements)

References 24 publications

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“…For example, a five-fingered gripper with a palm and suction cups at the tip of each finger as presented in Ref. [12]. Tendon wires are also widely used in compliant grippers.…”

Section: Related Workmentioning

confidence: 99%

Gripper Control Design and Simulation for OpenROV Submarine Robot

Rawashdeh

Abu-Alrub

2021

Actuators

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In this work, a design of a gripper for the underwater OpenROV vehicle is presented. OpenROV is an open-source underwater vehicle design for remote underwater exploration. It can enable systems of underwater internet of things and real-time monitoring. Mechanical aspects of the presented gripper design are discussed including actuation, motion transmission, kinematics and general arrangement, which resembles a delta robot. The Denavit-Hartenberg (DH) notation will be employed to define reference frames on one of the fingers in order to build transformation matrices and the forward kinematics matrix. The results from the forward kinematics are used to define the workspace that can be covered by each finger. The maximum force from the fingertip is estimated using Newton-Euler equations. Finally, the transfer function and the mass moment of inertia of the second link in the finger, that is, the fingertip is calculated for control simulations. A control stability analysis is provided and shows a stable system.

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“…For example, a five-fingered gripper with a palm and suction cups at the tip of each finger as presented in Ref. [12]. Tendon wires are also widely used in compliant grippers.…”

Section: Related Workmentioning

confidence: 99%

Gripper Control Design and Simulation for OpenROV Submarine Robot

Rawashdeh

Abu-Alrub

2021

Actuators

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“…Researchers have proposed and investigated several approaches to develop grasping mechanisms, where some considered the fingers as rigid components [1][2][3]. Others adopted flexible fingers, fingers with flexible surfaces as an interface for grasping, or fingers with flexible joints [4][5][6][7][8][9][10]. Moreover, under-actuated mechanisms have also been employed to achieve safe and stable grasping [11][12][13][14][15][16][17][18].…”

Section: Introductionmentioning

confidence: 99%

A Systematic Approach to Stable Grasping of a Two-Finger Robotic Hand Activated by Jamming of Granular Media

et al. 2023

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A systematic approach is presented to achieve the stable grasping of objects through a two-finger robotic hand, in which each finger cavity was filled with granular media. The compaction of the latter, controlled by vacuum pressure, was used to adjust the structural and contact stiffness of the finger. The grasping stability was studied under the concurrent effect of an external torque and applied vacuum pressure. Stable grasping was defined as the no slippage condition between the grasped object and the two fingers. Three control schemes were adopted and applied experimentally to ensure the effectiveness of the grasping process. The results showed that stable and unstable grasping regions exist for each combination of applied torque and vacuum pressure. The two-finger robotic hands can be further improved for applications that require high load-carrying capabilities.

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“…They are not suitable for most general unstructured applications, which involve a big workspace and can only rely on manually control by the human operator. In addition, the compliance of the robotic gripper is far less than the human hand [29]. The human-level robotic manipulation is still a critical issue, especially under those unconstrained and dynamic environments.…”

Section: Introductionmentioning

confidence: 99%

A Bimanual Robotic Teleoperation Architecture with Anthropomorphic Hybrid Grippers for Unstructured Manipulation Tasks

Zhu

Xiao

et al. 2020

Applied Sciences

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Bimanual telemanipulation is vital for facilitating robots to complete complex and dexterous tasks that involve two handheld objects under teleoperation scenarios. However, the bimanual configuration introduces higher complexity, dynamics, and uncertainty, especially in those uncontrolled and unstructured environments, which require more advanced system integration. This paper presents a bimanual robotic teleoperation architecture with modular anthropomorphic hybrid grippers for the purpose of improving the telemanipulation capability under unstructured environments. Generally, there are two teleoperated subsystems within this architecture. The first one is the Leap Motion Controller and the anthropomorphic hybrid robotic grippers. Two 3D printed anthropomorphic hybrid robotic grippers with modular joints and soft layer augmentations are designed, fabricated, and equipped for telemanipulation tasks. A Leap Motion Controller is used to track the motion of two human hands, while each hand is utilized to teleoperate one robotic gripper. The second one is the haptic devices and the robotic arms. Two haptic devices are adopted as the master devices while each of them takes responsibility for one arm control. Based on such a framework, an average RMSE (root-mean-square-error) value of 0.0204 rad is obtained in joint tracking. Nine sign-language demonstrations and twelve object grasping tasks were conducted with the robotic gripper teleoperation. A challenging bimanual manipulation task for an object with 5.2 kg was well addressed using the integrated teleoperation system. Experimental results show that the proposed bimanual teleoperation system can effectively handle typical manipulation tasks, with excellent adaptabilities for a wide range of shapes, sizes, and weights, as well as grasping modes.

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Pinch Grasp and Suction for Delicate Object Manipulations Using Modular Anthropomorphic Robotic Gripper with Soft Layer Enhancements

Cited by 10 publications

References 24 publications

Gripper Control Design and Simulation for OpenROV Submarine Robot

Gripper Control Design and Simulation for OpenROV Submarine Robot

A Systematic Approach to Stable Grasping of a Two-Finger Robotic Hand Activated by Jamming of Granular Media

A Bimanual Robotic Teleoperation Architecture with Anthropomorphic Hybrid Grippers for Unstructured Manipulation Tasks

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