Development of Pneumatically Driven Hand Capable of Grasping Flexible Objects

2020 ◽  
Vol 32 (5) ◽  
pp. 923-930
Author(s):  
Kotaro Nishikawa ◽  
Kentaro Hirata ◽  
Masahiro Takaiwa ◽  
◽  
◽  
...  

Industrial robots equipped with various grippers have been introduced in production sites and most of them are electrically driven. Because of the electric actuator’s characteristics, they have no back drivability, making it difficult for them to grasp flexible objects. In this study, therefore, we propose a pneumatically driven robot hand capable of grasping flexible objects by effectively employing the compressibility and back drivability of air.

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Ning Yu ◽  
Lin Nan ◽  
Tao Ku

Purpose How to make accurate action decisions based on visual information is one of the important research directions of industrial robots. The purpose of this paper is to design a highly optimized hand-eye coordination model of the robot to improve the robots’ on-site decision-making ability. Design/methodology/approach The combination of inverse reinforcement learning (IRL) algorithm and generative adversarial network can effectively reduce the dependence on expert samples and robots can obtain the decision-making performance that the degree of optimization is not lower than or even higher than that of expert samples. Findings The performance of the proposed model is verified in the simulation environment and real scene. By monitoring the reward distribution of the reward function and the trajectory of the robot, the proposed model is compared with other existing methods. The experimental results show that the proposed model has better decision-making performance in the case of less expert data. Originality/value A robot hand-eye cooperation model based on improved IRL is proposed and verified. Empirical investigations on real experiments reveal that overall, the proposed approach tends to improve the real efficiency by more than 10% when compared to alternative hand-eye cooperation methods.


Robotica ◽  
2000 ◽  
Vol 18 (1) ◽  
pp. 1-2 ◽  
Author(s):  
Sugaru Arimoto

At the end of the 20th century robot technology became well established as a reliable and economic source in industrial automation. On the other hand, it is claimed that even a general six or seven degree of freedom robot arm or a multifingered robot hand designed carefully and manufactured with very high precision lacks versatility in its use in a variety of tasks that must be done instead of a human. The lack of versatility or the clumsiness of present industrial robots is not due to the fine mechanism of such robots. Rather, the clumsiness shows a lack of our knowledge of everyday physics, in particular, a lack of knowledge of physics involving grasping and handling of various kinds of things and manipulating them with certain dexterity, in which tactile and vision sensings must be well coordinated.


2012 ◽  
Vol 588-589 ◽  
pp. 1659-1663
Author(s):  
Rim Boughdiri ◽  
Habib Nasser ◽  
Hala Bezine ◽  
Nacer K. M’Sirdi ◽  
Aziz Naamane ◽  
...  

Multi-fingered robot hands have been one of the major research topics because several robotic systems, including service robots, industrial robots and wheel-type mobile robots require grasping and manipulation of a variety of objects as crucial functionalities. Roughly speaking, there are two different types of robotic behavior: free motion, purpose of this paper and constrained motion that would be published in the near future. In this paper, we address the problem of multi-fingered robot hand’s dynamic modeling which is fundamental in design of model-based controllers for grasping and manipulation tasks. Based on the specified multi-fingered robot hand, a new methodology for deriving an efficient dynamic equation by the Lagrange formulation is presented. This methodology is new in the sense that it considers the coupling dynamics of the system in the identification of the parameters of the dynamic equation. Furthermore the developed dynamic model leads to decoupling dynamic characteristics, by which the control of different parts of the system can be separately simulated. So the new structure of the dynamic model was very useful and effective for the simulation and the diagnostic. Several simulation results proved that the derived dynamic model can predict the motion of the multi-fingered hand in free motion.


Author(s):  
Marek Vagas

Urgency of the research. Automated workplaces are growing up in present, especially with implementation of industrial robots with feasibility of various dispositions, where safety and risk assessment is considered as most important issues. Target setting. The protection of workers must be at the first place, therefore safety and risk assessment at automated workplaces is most important problematic, which had presented in this article Actual scientific researches and issues analysis. Actual research is much more focused at standard workplaces without industrial robots. So, missing of information from the field of automated workplaces in connection with various dispositions can be considered as added value of article. Uninvestigated parts of general matters defining. Despite to lot of general safety instructions in this area, still is missed clear view only at automated workplace with industrial robots. The research objective. The aim of article is to provide general instructions directly from the field of automated workplaces The statement of basic materials. For success realization of automated workplace is good to have a helping hand and orientation requirements needed for risk assessment at the workplace. Conclusions. The results published in this article increase the awareness and information of such automated workplaces, together with industrial robots. In addition, presented general steps and requirements helps persons for better realization of these types of workplaces, where major role takes an industrial robot. Our proposed solution can be considered as relevant base for risk assessment such workplaces with safety fences or light barriers.


Author(s):  
V.G. Farhadov ◽  
◽  
A.A. Babaeva ◽  
A.T. Mamedova ◽  
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...  

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