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Assembly process complexity in the production of manufactured products has received considerable attention in recent years. With the growing trend towards cyber-physical systems and the fourth industrial revolution, assembly research efforts must aim to develop efficient production systems incorporating robotic arms and flexible fixtures. The aim of the research was to investigate end effector and...
This paper presented a new design for underactuated robotic hand which has four grasping modes for objects. The robotic hand has three fingers. The underactuated mechanism of thumb is composed of gear-rack structure and the other two fingers work as a 2DOF gripper. The robotic hand can form both opening and closing motions with one motor. There is another motor which can control the distance between...
This paper provides a detailed analytic evaluation of the force-current relationship for a real underactuated gripper, whose geometry presents some differences with respect to the cases usually considered in the literature. Differently from other approaches, the model proposed can work in two ways: calculating the current needed to exert a given force, and calculating the force applied by the gripper...
In the case that tactile sensor matrices are placed at the fingers of a robotic gripper, it is possible to identify objects during grasping. This feature may be useful e.g. for sorting workpieces. In this article we present an approach for object identification using tactile information. For verification a test scenario is developed where the robot should sort workpieces which are based on Lego bricks...
This paper demonstrates the use of mechanotactile feedback to provide humans with virtual proprioception of their prosthetic devices. Traditional prostheses provide little or no sensory feedback, requiring the user to visually inspect many tasks performed with device. Virtual proprioception can allow humans to incorporate the kinematic and kinetic states of an external device into their body image,...
Surface polishing is a crucial final process of many manufactured parts. Presently, the process is heavily dependent on the skill of the trained workers and hence, is time consuming, expensive, error-prone and environmentally unfriendly. This paper presents a force controlled flexible robot polishing system utilizing a specially designed active end effector with a multi-step path planning. The main...
In this paper, we present the design, fabrication and the function of a soft actuator embedded with Low-Melting-Point Alloy (LMPA). By melting the metal via joule heating, the phase of the metal transformed from the solid state to the liquid state, by which the stiffness of the actuator changed over nearly an order of magnitude. Through a reheating-recrystallizing circle, the actuator can self-healing...
We describe the concept and first prototype of a novel mechatronic design of a robotic gripper, which aims at being mounted on a humanoid robot to achieve firm (i.e. locked) and robust grasps. Such grasps could ideally support complex multi-contact motions, such as ladder climbing, or manipulation of complex tools, with energy efficiency. For this purpose, we propose a solution by designing a smart...
The development of microscale surgical tools could pave the way for truly minimally invasive microsurgical procedures. This work demonstrates the application of direct laser writing (DLW) using two-photon polymerization (TPP), a rapid prototyping microfabrication technique, to create a tethered, passively actuated three-dimensional gripper with potential applications in microbiopsy. A microgripper...
In this paper, a solution for pruning tree branches close to electric power lines using a hexarotor helicopter equipped with a circular saw and a robotic gripper is proposed. The solution consists of flying to the target, in this case the branch to be pruned, fix the helicopter to it and finally, prune the tree branch with a circular saw. In this first approach, we propose a novel skew-gripper design...
Soft materials have been incorporated in the design of robotic systems particularly as a damper, cover or contact pads. With the emergence of soft robotics, which focuses on robotic devices partially or entirely made of soft materials, robotic systems with high deformability, conformability and biomimicry can be realized. By pushing the limits of low cost 3D printing, this study focuses on designing...
Ultra-thin wafer (thickness <100 µm) gripper is a challenging component to design since the wafer is one of the thinnest and fragile materials. In this paper, a soft acting non-contact gripper based on the distributed Bernoulli principle for ultra-thin wafer is developed and evaluated. The theoretical analysis and experimental studies of the designed gripper are carried out. The effects of the...
The paper presents the design and construction of an experimental stand for in vitro testing of total hip and knee prosthetics. It is composed of a pneumatic circuit (two pneumatic cylinders, a rack-piston oscillating motor), an electric circuit (an electric motor of 24 V DC, a power source, a command and control circuit), a device for cycles number counting, sensors for acceleration, rotational speed...
The technical skills of surgeons directly affect patient outcomes, yet how to train surgeons in a way that maximizes their learning speed and optimizes their performance is an open question. Recent studies in human motor learning have shown benefits of using force fields during training in point-to-point reaching tasks. Teleoperation systems enable the application of these force fields during the...
It is a characteristic features of anthropomorphous technology development at its current stage to be promoted from the sphere of production to the social life. The anthropomorphic robots have a particular place nowadays because they are capable of not only interacting with a human being but also fulfilling its actions in adverse conditions. The structure analogous to the human skeleton allows realizing...
Grasping an object in the presence of unpredictable disturbances and with no previous knowledge of the geometry and mass distribution of it represents a significant challenge in Robotics. Also, grasping an object with sufficient force to prevent slippage, whilst not damaging or deforming the shape of the object proves to be still an intricate challenge despite the existence of a huge body of literature...
This study presents a soft robotic gripper for grasping irregular objects. The optimal design is based on the proposed topology optimization and size optimization methods with the objective to maximize the mechanical advantage (MA, which is defined as the ratio of output force to the input force) of the analyzed compliant mechanism. The optimal design is prototyped using silicon rubber material. Experimental...
The article focuses on modifications made on an existing gripper mounted on a teleoperated manipulator arm of the military mobile robotic system TAROS. The reason of these modifications was to allow handling of objects with a large range of weight and strength, which requires fully and precisely adjustable gripping force with feedback. The implemented solution uses a strain gauge applied to a selected...
Autonomous delivery of goods using a Micro Air Vehicle (MAV) is a difficult problem, as it poses high demand on the MAV's control, perception and manipulation capabilities. This problem is especially challenging if the exact shape, location and configuration of the objects are unknown. In this paper, we report our findings during the development and evaluation of a fully integrated system that is...
This paper discusses robust capture of a free-floating target using a robotic arm. The position error resulting from sensor errors and time delay can cause undesired contact and unstable control. In this paper, we propose a caging-based rigid gripper and impedance control, which enables the robot to capture the target robustly without precise motion tracking and large force interaction. The performance...
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