Development of a Food Handling Soft Robot Hand for a High-speed Pick-and-place Task

2019 ◽  
Vol 2019 (0) ◽  
pp. 2A2-G04
Author(s):  
Yuta YAMANAKA ◽  
Gen ENDO ◽  
Koichi SUZUMORI ◽  
Hiroyuki NABAE
Keyword(s):  
High Speed ◽  
Robot Hand ◽  
Soft Robot ◽  
Food Handling ◽  
Pick And Place ◽  
Place Task

scholarly journals Negshell casting: 3D-printed structured and sacrificial cores for soft robot fabrication

2020 ◽  
Author(s):  
Pornthep Preechayasomboon ◽  
Eric Rombokas
Keyword(s):  
Mechanical Characterization ◽  
Use Case ◽  
Soft Robot ◽  
Force Transmission ◽  
Robotic Fabrication ◽  
Pick And Place ◽  
Place Task ◽  
3D Printed ◽  
Negative Space

Soft robot fabrication by casting liquid elastomer often requires multiple steps of casting or skillful manual labor. We present a novel soft robotic fabrication technique: negshell casting (negative-space eggshell casting), that reduces the steps required for fabrication by introducing 3D-printed thin-walled cores for use in casting that are meant to be left in place instead of being removed later in the fabrication process. Negshell casting consists of two types of cores: sacrificial cores (negshell cores) and structural cores. Negshell cores are designed to be broken into small pieces that have little effect on the mechanical structure of the soft robot, and can be used for creating fluidic channels and bellows for actuation. Structural cores, on the other hand, are not meant to be broken, and are for increasing the stiffness of soft robotic structures, such as endoskeletons. We describe the design and fabrication concepts for both types of cores and report the mechanical characterization of the cores embedded in silicone rubber specimens. We also present an example use-case of negshell casting for a single joint soft robotic finger, along with an experiment to demonstrate how negshell casting concepts can aid in force transmission. Finally, we present real-world usage of negshell casting in a 6 degree-of-freedom three-finger soft robotic gripper, and a demonstration of the gripper in a robotic pick-and-place task.

scholarly journals Dynamic In-Hand Regrasping Using a High-Speed Robot Hand and High-Speed Vision

2020 ◽  
Vol 53 (2) ◽  
pp. 9796-9801
Author(s):  
Ryosuke Higo ◽  
Taku Senoo ◽  
Masatoshi Ishikawa
Keyword(s):  
High Speed ◽  
Robot Hand

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.

scholarly journals Queuing theory based part-flow estimation in a pick-and-place task with a multi-robot system

2018 ◽  
Vol 12 (2) ◽  
pp. JAMDSM0061-JAMDSM0061
Author(s):  
Yanjiang HUANG ◽  
Ryosuke CHIBA ◽  
Tamio ARAI ◽  
Tsuyoshi UEYAMA ◽  
Xianmin ZHANG ◽  
...  
Keyword(s):  
Queuing Theory ◽  
Robot System ◽  
Flow Estimation ◽  
Pick And Place ◽  
Place Task ◽  
Multi Robot

Analytical and Experimental Predictor-Based Time Delay Control of Baxter Robot

2018 ◽  
Author(s):  
Mostafa Bagheri ◽  
Miroslav Krstić ◽  
Peiman Naseradinmousavi
Keyword(s):  
Time Delay ◽  
Time Delays ◽  
Input Delay ◽  
Delay Systems ◽  
Engineering Systems ◽  
Common Control ◽  
Pick And Place ◽  
Place Task ◽  
Input Delays ◽  
Time Invariant

In this paper, a predictor-based controller for a 7-DOF Baxter manipulator is formulated to compensate a time-invariant input delay during a pick-and-place task. Robot manipulators are extensively employed because of their reliable, fast, and precise motions although they are subject to large time delays like many engineering systems. The time delay may lead to the lack of high precision required and even catastrophic instability. Using common control approaches on such delay systems can cause poor control performance, and uncompensated input delays can produce hazards when used in engineering applications. Therefore, destabilizing time delays need to be regarded in designing control law. First, delay-free dynamic equations are derived using the Lagrangian method. Then, we formulate a predictor-based controller for a 7-DOF Baxter manipulator, in the presence of input delay, in order to track desirable trajectories. Finally, the results are experimentally evaluated.

scholarly journals A Pick and Place Task with an KUKA Industrial Robot, Aided by an Arduino Board

2019 ◽  
Vol 6 (12) ◽  
pp. 398-400
Author(s):  
Rodrigo Barbosa Tudeschini ◽  
Raphael Barbosa Carneiro de Lima ◽  
Luiz Flavio Martins Pereira ◽  
Álvaro Manoel de Souza Soares
Keyword(s):  
Industrial Robot ◽  
Pick And Place ◽  
Place Task
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