Design of an industrial robotic gripper for precise twisting and positioning in high-speed assembly

Autor:	Aldo Bottero, Ferdinando Cannella, Darwin G. Caldwell, Fei Chen, Amit Eytan, Carlo Canali
Rok vydání:	2013
Předmět:	Engineering business.industry GRASP ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Robotic hand Control engineering Manufacturing systems Task (computing) Grippers Cylinder Robot business Position control ComputingMethodologies_COMPUTERGRAPHICS
Zdroj:	SII Scopus-Elsevier
DOI:	10.1109/sii.2013.6776733
Popis:	In electronic manufacturing system, the design of the robotic hand is important for the successful accomplishment of the assembly task. Due to the restriction of the architecture of traditional robotic hands, it is difficult to grasp the cylinder shaped assembly parts with correct posture. In this research, a novel 4-DOF jaw like gripper is designed and built for precise positioning and twisting online. It can apply a constant gripping force on assembly parts and perform reliable twisting movement. Manipulating a cylinder shaped assembly part by robot, as an experimental case in this paper, is studied to evaluate the performance. The effectiveness of proposed gripper design and mechanical analysis is proved by the experiments.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::fd58c19148ad2d56086366371520b098 https://doi.org/10.1109/sii.2013.6776733 Zobrazit plný text záznamu