Article

Development of an Integrated Grapple Chain for a Simultaneous Three-Fingered End-Effector

Authors:

Jun Wu,

Yu He,

He Wang,

Shaowei FanAuthors Info & Claims

Intelligent Robotics and Applications: 16th International Conference, ICIRA 2023, Hangzhou, China, July 5–7, 2023, Proceedings, Part VIII

Pages 557 - 567

https://doi.org/10.1007/978-981-99-6501-4_47

Published: 13 October 2023 Publication History

Abstract

This paper presents the development of an integrated grapple chain for a simultaneous three-fingered end-effector. The geometrical constraint with four stages is firstly defined. Then, a grapple finger is presented to fulfill the proposed four stages with an approximately straight line actuation. Then, the actuation chain of linkage is designed by modification, optimization and combination. At last, Simulation indicates that the grapple finger can conduct planar and linear motion, which contributed to restrain the target gradually.

References

[1]

Jorgensen, G., Bains, E.: SRMS history, evolution and lessons learned. In: AIAA SPACE 2011 Conference and Exposition, pp. 4–5 (2011)

Google Scholar

[2]

Parma, G.F.: Overview of the Nasa Docking System (Nds) and the International Docking System Standard (Idss). In: AIAA Houston Section Annual Technical Symposium, pp. 1–19 (2011)

Google Scholar

[3]

Stamm, S., Motaghedi, P.: Orbital express capture system: concept to reality. In: Proceedings of SPIE - The International Society for Optical Engineering, pp. 78–91 (2004)

Google Scholar

[4]

Nishida, S.I., Yoshikawa, T.: A new end-effector for on-orbit assembly of a large reflector. In: International Conference on Control, Automation, Robotics and Vision, pp. 1–6 (2007)

Google Scholar

[5]

Han, F., Liu, Y., Sun, K., Liu, H.: Development of the interchangeable devices for space robot system. In: IEEE International Conference on Robotics and Biomimetics, pp. 2055–2061 (2014)

Google Scholar

[6]

Seo J, Yim M, and Kumar V A theory on grasping objects using effectors with curved contact surfaces and its application to whole-arm grasping Int. J. Robot. Res. 2016 35 9 1-23

Crossref

Google Scholar

[7]

Rimon, E., Burdick, J.W.: Mobility of bodies in contact. I. A 2nd-order mobility index for multiple-finger grasps. robotics and automation. IEEE Trans. 14(5), 696–708 (1998)

Google Scholar

[8]

Liu, H., Wu, J., Fan, S., Li, Z., Jin, M.: Guideline and design of a six-dimensional constraint gripper. In: IEEE International Conference on Mechatronics and Automation, pp. 1524–1529 (2016)

Google Scholar

[9]

Buśkiewicz J A method for optimal path synthesis of four-link planar mechanisms Inverse Probl. Sci. Eng. 2014 23 5 818-850

Crossref

Google Scholar

[10]

Chironis, N.P., Sclater, N.: Mechanisms and Mechanical Devices Sourcebook. Mcgraw Hill (2003)

Google Scholar

[11]

Bryant J and Sangwin C How Round Is Your Circle?: Where Engineering and Mathematics Meet 2008 Princeton, USA Princeton University Press

Google Scholar

[12]

Elgammal AT, Fanni M, and Mohamed AM Design and analysis of a novel 3d decoupled manipulator based on compliant pantograph for micromanipulation J. Intell. Rob. Syst. 2016 87 1 43-57

Crossref

Google Scholar

[13]

O’Rourke, J.: How to Fold It: The Mathematics of Linkages, Origami, and Polyhedra. Cambridge University Press (2011)

Google Scholar

Recommendations

Robotic compliant grinding of curved parts based on a designed active force-controlled end-effector with optimized series elastic component
Highlights
- A new active compliant force-controlled end-effector based on series elastic actuator is designed for robotic grinding of curved surfaces.
- The influences of the elastic component and the grinding tool stiffnesses on the dynamic ...
Abstract
High-accuracy, fast-response, and low-overshoot force control are important to guarantee the material removal accuracy and surface quality of robotic compliant grinding. In order to achieve the above target, this study develops an active ...
Robotic grinding of curved parts with two degrees of freedom active compliant force-controlled end-effector using decoupling control algorithm
Highlights
- A novel two degrees of freedom active compliant force-controlled end-effector is developed to restrict overshoot, reduce force tracking error, and improve grinding efficiency.
- The dynamic relationship between the friction coefficient ...
Abstract
This paper proposes a novel two degrees of freedom (2-DOF) active compliant force-controlled end-effector (EE) using decoupling control algorithm to improve grinding efficiency, material removal accuracy, and surface quality of the curved parts ...
Design of a Force-Controlled End-Effector with Slender Flexible Beams
Intelligent Robotics and Applications
Abstract
This paper proposes a force-controlled end-effector with slender flexible beams. On the one hand, it can actively control the deformation of slender flexible beams to output a constant force at the end-effector without using a force sensor. On the ...

Comments

Please enable JavaScript to view thecomments powered by Disqus.

Information & Contributors

Information

Published In

Intelligent Robotics and Applications: 16th International Conference, ICIRA 2023, Hangzhou, China, July 5–7, 2023, Proceedings, Part VIII

Jul 2023

612 pages

ISBN:978-981-99-6500-7

DOI:10.1007/978-981-99-6501-4

Editors:
Huayong Yang
https://ror.org/00a2xv884Zhejiang University, Hangzhou, China
,
Honghai Liu
https://ror.org/01yqg2h08Harbin Institute of Technology, Shenzhen, China
,
Jun Zou
https://ror.org/00a2xv884Zhejiang University, Hangzhou, China
,
Zhouping Yin
https://ror.org/00p991c53Huazhong University of Science and Technology, Wuhan, China
,
Lianqing Liu
https://ror.org/00ft6nj33Shenyang Institute of Automation, Shenyang, Liaoning, China
,
Geng Yang
https://ror.org/00a2xv884Zhejiang University, Hangzhou, China
,
Xiaoping Ouyang
https://ror.org/00a2xv884Zhejiang University, Hangzhou, China
,
Zhiyong Wang
https://ror.org/01yqg2h08Harbin Institute of Technology, Shenzhen, China

Publisher

Springer-Verlag

Berlin, Heidelberg

Publication History

Published: 13 October 2023

Author Tags

Qualifiers

Article

Recommendations

Robotic compliant grinding of curved parts based on a designed active force-controlled end-effector with optimized series elastic component

Robotic grinding of curved parts with two degrees of freedom active compliant force-controlled end-effector using decoupling control algorithm

Design of a Force-Controlled End-Effector with Slender Flexible Beams

Comments

Published In

Publisher

Publication History

Author Tags

Qualifiers

Other Metrics

Article Metrics

Other Metrics

Abstract

References

Recommendations

Robotic compliant grinding of curved parts based on a designed active force-controlled end-effector with optimized series elastic component

Robotic grinding of curved parts with two degrees of freedom active compliant force-controlled end-effector using decoupling control algorithm

Design of a Force-Controlled End-Effector with Slender Flexible Beams

Comments

Information

Published In

Publisher

Publication History

Author Tags

Qualifiers

Contributors

Other Metrics

Bibliometrics

Article Metrics

Other Metrics

Citations

View options

Share

Share this Publication link

Share on social media

Affiliations