Multirobot coordination in pick-and-place tasks on a moving conveyor

2012 ◽  
Vol 28 (4) ◽  
pp. 530-538 ◽  
Author(s):  
H. Işıl Bozma ◽  
M.E. Kalalıoğlu
Keyword(s):  
Multirobot Coordination ◽  
Pick And Place

Design of spline surface vacuum gripper for pick and place robotic arms

2020 ◽  
Vol 4 (2) ◽  
pp. 48-55
Author(s):  
A. S. Jamaludin ◽  
M. N. M. Razali ◽  
N. Jasman ◽  
A. N. A. Ghafar ◽  
M. A. Hadi
Keyword(s):  
Cycle Time ◽  
Industrial Robot ◽  
Annealing Process ◽  
Vacuum Suction ◽  
Robotic Arms ◽  
Custom Made ◽  
Pick And Place ◽  
Manufacturing Procedure ◽  
Production Flexibility ◽  
The Impact

The gripper is the most important part in an industrial robot. It is related with the environment around the robot. Today, the industrial robot grippers have to be tuned and custom made for each application by engineers, by searching to get the desired repeatability and behaviour. Vacuum suction is one of the grippers in Watch Case Press Production (WCPP) and a mechanism to improve the efficiency of the manufacturing procedure. Pick and place are the important process for the annealing process. Thus, by implementing vacuum suction gripper, the process of pick and place can be improved. The purpose of vacuum gripper other than design vacuum suction mechanism is to compare the effectiveness of vacuum suction gripper with the conventional pick and place gripper. Vacuum suction gripper is a mechanism to transport part and which later sequencing, eliminating and reducing the activities required to complete the process. Throughout this study, the process pick and place became more effective, the impact on the production of annealing process is faster. The vacuum suction gripper can pick all part at the production which will lower the loss of the productivity. In conclusion, vacuum suction gripper reduces the cycle time about 20%. Vacuum suction gripper can help lower the cycle time of a machine and allow more frequent process in order to increase the production flexibility.

scholarly journals Design, Fabrication, and Testing of a Novel 3D 3-Fingered Electrothermal Microgripper with Multiple Degrees of Freedom

Micromachines ◽  
2021 ◽  
Vol 12 (4) ◽  
pp. 444
Author(s):  
Guoning Si ◽  
Liangying Sun ◽  
Zhuo Zhang ◽  
Xuping Zhang
Keyword(s):  
Degrees Of Freedom ◽  
Dynamic Properties ◽  
Three Dimensional ◽  
Polyimide Film ◽  
Zebrafish Embryos ◽  
Multiple Degrees Of Freedom ◽  
Electrothermal Actuator ◽  
3D Space ◽  
Pick And Place

This paper presents the design, fabrication, and testing of a novel three-dimensional (3D) three-fingered electrothermal microgripper with multiple degrees of freedom (multi DOFs). Each finger of the microgripper is composed of a V-shaped electrothermal actuator providing one DOF, and a 3D U-shaped electrothermal actuator offering two DOFs in the plane perpendicular to the movement of the V-shaped actuator. As a result, each finger possesses 3D mobilities with three DOFs. Each beam of the actuators is heated externally with the polyimide film. The durability of the polyimide film is tested under different voltages. The static and dynamic properties of the finger are also tested. Experiments show that not only can the microgripper pick and place microobjects, such as micro balls and even highly deformable zebrafish embryos, but can also rotate them in 3D space.

scholarly journals On Provably Safe and Live Multirobot Coordination With Online Goal Posting

2021 ◽  
pp. 1-19
Author(s):  
Anna Mannucci ◽  
Lucia Pallottino ◽  
Federico Pecora
Keyword(s):  
Multirobot Coordination

scholarly journals Automated pick-and-place of single nanoparticle using electrically controlled low-surface energy nanotweezer

AIP Advances ◽  
2021 ◽  
Vol 11 (3) ◽  
pp. 035219
Author(s):  
Ya-Kun Lyu ◽  
Zuo-Tao Ji ◽  
Tao He ◽  
Zhenda Lu ◽  
Weihua Zhang
Keyword(s):  
Surface Energy ◽  
Low Surface Energy ◽  
Single Nanoparticle ◽  
Pick And Place

scholarly journals Autonomous pick-and-place using the dVRK

2021 ◽  
Author(s):  
Claudia D’Ettorre ◽  
Agostino Stilli ◽  
George Dwyer ◽  
Maxine Tran ◽  
Danail Stoyanov
Keyword(s):  
Da Vinci Surgical System ◽  
Access Port ◽  
The Us ◽  
Pick And Place ◽  
Efficient Data ◽  
Preliminary Study ◽  
Robotic Tool ◽  
Robotic Assisted Partial Nephrectomy ◽  
Vinci Surgical System ◽  
Us Scan

Abstract Purpose Robotic-assisted partial nephrectomy (RAPN) is a tissue-preserving approach to treating renal cancer, where ultrasound (US) imaging is used for intra-operative identification of tumour margins and localisation of blood vessels. With the da Vinci Surgical System (Sunnyvale, CA), the US probe is inserted through an auxiliary access port, grasped by the robotic tool and moved over the surface of the kidney. Images from US probe are displayed separately to the surgical site video within the surgical console leaving the surgeon to interpret and co-registers information which is challenging and complicates the procedural workflow. Methods We introduce a novel software architecture to support a hardware soft robotic rail designed to automate intra-operative US acquisition. As a preliminary step towards complete task automation, we automatically grasp the rail and position it on the tissue surface so that the surgeon is then able to manipulate manually the US probe along it. Results A preliminary clinical study, involving five surgeons, was carried out to evaluate the potential performance of the system. Results indicate that the proposed semi-autonomous approach reduced the time needed to complete a US scan compared to manual tele-operation. Conclusion Procedural automation can be an important workflow enhancement functionality in future robotic surgery systems. We have shown a preliminary study on semi-autonomous US imaging, and this could support more efficient data acquisition.

scholarly journals Capillary Pick-and-Place of Glass Microfibers

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 15074-15083
Author(s):  
Bo Chang ◽  
Bin K. Wang ◽  
Jia L. Jin ◽  
Quan Zhou
Keyword(s):  
Pick And Place

scholarly journals Multimodal Mixed Reality Impact on a Hand Guiding Task with a Holographic Cobot

2020 ◽  
Vol 4 (4) ◽  
pp. 78
Author(s):  
Andoni Rivera Pinto ◽  
Johan Kildal ◽  
Elena Lazkano
Keyword(s):  
Augmented Reality ◽  
Industrial Production ◽  
User Study ◽  
Haptic Feedback ◽  
Mixed Reality ◽  
Robot Arm ◽  
Pick And Place ◽  
Place Task ◽  
Guidance Technique ◽  
The Impact

In the context of industrial production, a worker that wants to program a robot using the hand-guidance technique needs that the robot is available to be programmed and not in operation. This means that production with that robot is stopped during that time. A way around this constraint is to perform the same manual guidance steps on a holographic representation of the digital twin of the robot, using augmented reality technologies. However, this presents the limitation of a lack of tangibility of the visual holograms that the user tries to grab. We present an interface in which some of the tangibility is provided through ultrasound-based mid-air haptics actuation. We report a user study that evaluates the impact that the presence of such haptic feedback may have on a pick-and-place task of the wrist of a holographic robot arm which we found to be beneficial.

Pick-and-place guidance utilizing an integrated control method and structured light ranging

1992 ◽  
Author(s):  
Jukka P. Riekki ◽  
Juha Roening ◽  
Olli Silven ◽  
Matti Pietikaeinen ◽  
Visa Koivunen
Keyword(s):  
Control Method ◽  
Integrated Control ◽  
Structured Light ◽  
Pick And Place
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