scholarly journals Optimization of Grasping of 3-D Parts by Universal Robotic Hand with Parallel Stick Fingers for Assembly Tasks

2015 ◽  
Vol 28 (6) ◽  
pp. 258-266 ◽  
Author(s):  
Hiroki Dobashi ◽  
Wataru Kamioka ◽  
Takanori Fukao ◽  
Yasuyoshi Yokokohji ◽  
Akio Noda ◽  
...  
Keyword(s):  
Robotic Hand ◽  
Assembly Tasks

Design of a novel dexterous robotic gripper for in-hand twisting and positioning within assembly automation

2015 ◽  
Vol 35 (3) ◽  
pp. 259-268 ◽  
Author(s):  
Fei Chen ◽  
Luca Carbonari ◽  
Carlo Canali ◽  
Mariapaola D'Imperio ◽  
Ferdinando Cannella
Keyword(s):  
Manufacturing Industry ◽  
Mechanical Analysis ◽  
Robotic Hand ◽  
Hand Posture ◽  
Robotic Hands ◽  
Content Type ◽  
Electronic Manufacturing ◽  
Electronic Manufacturing Industry ◽  
Gripping Force ◽  
Assembly Tasks

Purpose – This paper aims to design a novel jaw gripper with human-sized anthropomorphic features to be suitable for precise in-hand posture transitions, such as twisting and re-positioning. The growing demand from traditional high-mix low-volume and new massive customized manufacturing industry requires the robot with configurability and flexibility. In the electronic manufacturing industry particularly, the design of the robotic hand with sufficient dexterity and configuration is important for the robot to accomplish the assembly task reliably and robustly. It is important for the robot to be able to grasp and manipulate a large number of assembly parts or tools. Design/methodology/approach – In this research, a novel jaw-like gripper with human-sized anthropomorphic features is designed for online in-hand precise positioning and twisting. It retains the simplicity feature of traditional industrial grippers and dexterity features of dexterous robotic hands. Findings – The gripper is able to apply suitable gripping force on assembly parts and performs reliable twisting movement within limited time to meet the industrial requirements. Manipulating several cylindrical assembly parts by robot, as an experimental case in this paper, is studied to evaluate its performance. The effectiveness of proposed gripper design and mechanical analysis is proved by the simulation and experimental results. Originality/value – The main originality of this research is that a novel jaw gripper with human-sized anthropomorphic features is designed to be suitable for precise in-hand posture transitions, such as twisting and re-positioning. With this gripper, the robotic system will be sufficiently flexible to deal with various assembly tasks.

Design of a Multi-Palm Robotic Hand for Assembly Tasks

2016 ◽  
Author(s):  
Reza Movassagh-Khaniki ◽  
Neda Hassanzadeh ◽  
Abhijit Makhal ◽  
Alba Perez-Gracia
Keyword(s):  
Collaborative Work ◽  
Synthesis Process ◽  
Robotic Hand ◽  
Robot Arm ◽  
Robotic Hands ◽  
Robotic Arms ◽  
Bimanual Task ◽  
Tree Topologies ◽  
End Effectors ◽  
Assembly Tasks

Some robotic tasks, especially those in which there are interactions between manipulated objects, require the collaborative work of two robotic arms equipped with end-effector grippers or robotic hands. Most of the current applications in which a bimanual task is attempted by a robot use two robot arm manipulators with simple grippers, in which the end-effectors are used for grasping and the remaining motion is performed by the robotic arms. In this work, we propose the design of a highly dexterous multi-fingered robotic hand, able to perform the bimanual task when attached to a simple arm manipulator. Dexterous robotic hands can be designed with more than one splitting stage; their design for a task can be done using kinematic synthesis for tree topologies. The synthesis process is applied in this case to the design of a robotic hand with three palms for a bimanual task consisting of assembling an emergency stop button.

Strategies for using instructions in assembly tasks

2007 ◽  
Author(s):  
Elsa Eiriksdottir ◽  
Richard Catrambone
Keyword(s):  
Assembly Tasks

A simplified model of a multi-jointed mechanical finger calibrated with experimental data by vision system

2021 ◽  
Vol 235 (1) ◽  
pp. 164-175
Author(s):  
C Cosenza ◽  
V Niola ◽  
S Savino
Keyword(s):  
Experimental Data ◽  
Vision System ◽  
Control Strategies ◽  
Image Correlation ◽  
Robotic Hand ◽  
Prosthetic Device ◽  
Prosthetic Hands ◽  
Mechanical Hand ◽  
Free Mode ◽  
Mechanical Finger

The development of suitable models for mechanical fingers, whether they are part of prosthetic device or of a robotic hand, is a powerful tool to predict the behaviour of their components since the early stages of design, especially for underactuated mechanisms. Experimental data can improve the reliability of such models and promote their application to build proper control strategies especially for prosthetic hands. Here, we have developed a multi-jointed model of a mechanical finger. The finger is part of the Federica hand: an underactuated mechanical hand that was conceived for prosthetic purpose. The model accounts for friction phenomena in the finger and it is tuned with experimental data acquired through a digital image correlation device. The model allowed us to write kinematics relations of the phalanges and evaluate finger configurations in relation to the closure velocity. Moreover, it was possible to estimate the tendon force and the work analysis occurring during the closure tasks, both in free mode and in presence of objects.

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