SCARA based peg-in-hole assembly using compliant IPMC micro gripper

Jain, Ravi; Majumder, S.; Dutta, Ashish

doi:10.1016/j.robot.2012.12.001

Cited by 86 publications

(43 citation statements)

References 25 publications

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“…In these years, different kinds of RCC devices have been developed and equipped in robotic assembly tasks. Jain et al (2014) and Jain et al (2013) demonstrated ionic polymer metal composite (IPMC) fingers based micro gripper, in which compliance is added to the system to help achieve micro-peg-in-hole assembly.…”

Section: The Compliance-based Devicesmentioning

confidence: 99%

The compliance of robotic hands – from functionality to mechanism

Qiao

2015

Assembly Automation

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2015),"Design of a novel dexterous robotic gripper for in-hand twisting and positioning within assembly automation", Assembly Automation, Vol. 35 Iss 3 pp. 259-268 http://dx.If you would like to write for this, or any other Emerald publication, then please use our Emerald for Authors service information about how to choose which publication to write for and submission guidelines are available for all. Please visit www.emeraldinsight.com/authors for more information. About Emerald www.emeraldinsight.comEmerald is a global publisher linking research and practice to the benefit of society. The company manages a portfolio of more than 290 journals and over 2,350 books and book series volumes, as well as providing an extensive range of online products and additional customer resources and services.Emerald is both COUNTER 4 and TRANSFER compliant. The organization is a partner of the Committee on Publication Ethics (COPE) and also works with Portico and the LOCKSS initiative for digital archive preservation. AbstractPurpose -The purpose of this paper is to introduce the physical structure and the control mechanism of human motor nervous system to the robotic system in a tentative manner to improve the compliance/flexibility/versatility of the robot. Design/methodology/approach -A brief review is focused on the concept of compliance, the compliance-based methods and the application of some compliance-based devices. Combined with the research on the physical structure and the control mechanism of human motor nervous system, a new drive structure and control method is proposed. Findings -Introducing the physical structure and the control mechanism of human motor nervous system can improve the compliance/flexibility/ versatility of the robot, without bringing in more complexity or inefficiency to the system, which helps in the assembly automation tasks. Originality/value -The proposed drive structure and control method are useful to build up a novel, low-cost robotic assembly automation system, which is easy to interact and cooperate with humans.

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Section: The Compliance-based Devicesmentioning

confidence: 99%

The compliance of robotic hands – from functionality to mechanism

Qiao

2015

Assembly Automation

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“…A voltage difference across the electrodes generates an electric field that initiates the actuation within IPMC membrane. Due to large-scale deflections with modest operating voltage and ability to exhibit bio-mimetic flexibility, contrary to conventional actuator like motors, IPMCs have elevated the prospects of their adoption in robotics applications 12–14 . Despite its slow response time, several intricate schemes and work have been carried out to overcome these routes.…”

Section: Introductionmentioning

confidence: 99%

Development, Characterization and Electromechanical Actuation Behavior of Ionic Polymer Metal Composite Actuator based on Sulfonated Poly(1,4-phenylene ether-ether-sulfone)/Carbon Nanotubes

Khan

Jain

Banerjee

et al. 2018

Sci Rep

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This paper presents the development of new cost-effective hybrid-type sulfonated poly(1,4-phenylene ether-ether-sulfone) (SPEES) and functionalized single-walled carbon nanotubes (SWNT) based actuators produced by the film-casting method followed by chemical reduction of Pt ions as electrodes. The preparation of SPEES was investigated in details and sulfonation of polymer was characterized by ion exchange capacity (IEC), Fourier-transform infrared (FTIR) and degree of sulfonation measurements. SPEES having degree of sulfonation of 126% was blended with SWNT and used to fabricate IPMC actuator. The chemical composition and detailed structure of SPEES-SWNT ionic polymer membranes were confirmed by FTIR, EDX and transmittance electron microscopy (TEM) analysis. Scanning electron microscopy (SEM) micrographs revealed the homogeneously distributed layers of Pt electrodes on the surfaces of IPMC membrane. The electrochemical and electromechanical properties of SPEES-SWNT-Pt-based IPMC actuator shows a better actuation performance than conventional IPMC actuators in terms of higher IEC, Proton conductivity, higher current density, electrochemical impedance spectroscopy (EIS), and large bending deflection. The robust, flexible and mechanically strong membranes prepared by the synergistic combination of SPEES and SWNT may have considerable potential as actuator materials for robotic and biomimetic applications.

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“…In some other studies, compliant devices and compliance control were applied to robots to realize an assembly task. [16][17][18] Baxter robot is a dual-arm robot with sonar and camera sensor, which has been focused by many researchers due to its collaboration with human being. [19][20][21][22][23] However, the positioning accuracy of Baxter robot is low because the accuracy of hardware used in the robot is low and the serial elastic actuator (SEA) is used for each joint.…”

Section: Introductionmentioning

confidence: 99%

Vision-guided peg-in-hole assembly by Baxter robot

Huang

Zhang

Chen

et al. 2017

Advances in Mechanical Engineering

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Dual-arm robot Baxter has been utilized in many applications. To use the Baxter robot realize a peg-in-hole assembly task, we proposed a step-by-step grasping strategy and a vision-guidance method for the Baxter robot. The step-by-step grasping strategy was used to position and grasp a peg and a hole on the working platform. At the assembling process, the positioning error was derived by the camera attached on the robot end-effector, and the positioning error was compensated through proportional-integral-derivative controller. Experiments were conducted to evaluate the grasping strategy and the vision-guidance method. Experimental results show that the Baxter robot can grasp the peg and the hole from the working platform, and the peg in hole with 1 mm clearance can be assembled successfully.

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SCARA based peg-in-hole assembly using compliant IPMC micro gripper

Cited by 86 publications

References 25 publications

The compliance of robotic hands – from functionality to mechanism

The compliance of robotic hands – from functionality to mechanism

Development, Characterization and Electromechanical Actuation Behavior of Ionic Polymer Metal Composite Actuator based on Sulfonated Poly(1,4-phenylene ether-ether-sulfone)/Carbon Nanotubes

Vision-guided peg-in-hole assembly by Baxter robot

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