Development of an Autonomous Friction Gripper for Industrial Robots
Industrial robots become useless without end-effectors
that for many instances are in the form of friction grippers.
Commonly friction grippers apply frictional forces to different
objects on the basis of programmers- experiences. This puts a
limitation on the effectiveness of gripping force that may result in
damaging the object. This paper describes various stages of design
and development of a low cost sensor-based robotic gripper that
would facilitate the task of applying right gripping forces to different
objects. The gripper is also equipped with range sensors in order to
avoid collisions of the gripper with objects. It is a fully functional
automated pick and place gripper which can be used in many
industrial applications. Yet it can also be altered or further developed
in order to suit a larger number of industrial activities. The current
design of gripper could lead to designing completely automated robot
grippers able to improve the efficiency and productivity of industrial
robots.
[1] S. Haddadin, and A. Albu-Schäffer, "Safe physical human-robot
interaction: measurements, analysis and new insights," Robotics
Research, vol.66, 2011, pp. 395-407.
[2] B. Koyuncu, and M. G├╝zel, "Software development for the kinematic
analysis of a lynx 6 robot arm," International Journal of Applied
Science, Engineering and Technology, vol. 4, 2008, pp. 228-233.
[3] D. Tolani, A. Goswami, N. I. Badler, "Real-time inverse kinematics
techniques for anthropomorphic limbs," Graphical Models, vol. 62,
2000, pp. 353-388.
[4] A. Kelly, E. Capstick, D. Huber, H. Herman, P. Rander and R. Warner,
"Real-time photorealistic virtualized reality interface for remote mobile
robot control," Springer Tracts in Advanced Robotics, vol. 70, 2011, pp.
211-226.
[5] Y. Dadji, H. Michalik, N. Kohn, J. Steiner, G. Beckmann, T. Möglich
and J. U. Varchmin," A communication architecture for distributed realtime
robot control," Springer Tracts in Advanced Robotics, vol. 67,
2011, pp. 213-231.
[6] M. H. Korayem, K. Khoshhal, and H. Aliakbarpour, "Vision based robot
experiment: measurement of path related characteristics," International
Journal of Applied Science, Engineering and Technology, vol 2, 2006,
pp. 170-174.
[7] K. Oh, J. P. Hwang, E. Kim, and H. Lee, "Path planning of a robot
manipulator using retrieval RRT strategy", World Academy of Science,
Engineering and Technology, vol. 21, 2007, pp. 1307-6884.
[8] T. C. Manjunath, and C. Ardil, "Design of an artificial intelligence based
automatic task planner or a robotic system," International Journal of
Computer and Information Science and Engineering, vol. 2, 2008, pp. 1-
6.
[9] M. Samaka, "Robot task-level programming language and simulation, "
World Academy of Science, Engineering and Technology, vol. 9, 2005,
pp. 99-103.
[10] K. B. Shimoga, "Robot Grasp Synthesis Algorithms: A Survey,"
International Journal of Robotics Research, vol. 15, 1996, pp. 230-266.
[11] M. R. Cutkoski, "On grasp choice, grasp models, and the design of
hands for manufacturing tasks," IEEE Trans. Robot. Automat, vol. 5,
1989, pp. 269-279.
[12] A. Osyczka, Evolutionary algorithms for single and multicriteria design
optimization. Heidelberg: Physica-Verlag, 2002.
[13] M. Ceccarelli, J. Cuadrado, and D. Dopico, "An optimum synthesis for
gripping mechanisms by using natural coordinates," Proceedings of the
Institution of Mechanical Engineers, Part C: Journal of Mechanical
Engineering Science, vol. 216, 2002, pp 643-653.
[14] J. Cuadrado, M. A. Naya, M. Ceccarelli, and G. Carbone, "An optimum
design procedure for two-finger grippers: a case study," Electronic
Journal of Computational Kinematics, vol. 1, 2002.
[15] J. A. Cabrera, F. Nadal, J. P. Munoz, and A. Simon, "Multiobjective
constrained optimal synthesis of planar mechanisms using a new
evolutionary algorithm," Mechanism and Machine Theory, vol. 42,
2007, pp.791-806.
[16] C. Lanni, and M. Ceccarelli, "An optimization problem algorithm for
kinematic design of mechanisms for two-finger grippers," Open
Mechanical Engineering Journal, vol. 3, 2009, pp. 49-62.
[17] R. Datta, and K. Deb, "Multi-objective design and analysis of robot
gripper configurations using an evolutionary-classical approach," 13th
Annual Conference on Genetic and Evolutionary Computation, Dublin,
Ireland, 2011, pp. 1843-1850.
[18] X. Zhang, and C. A. Nelson, "Multiple-criteria kinematic optimization
for the design of spherical serial mechanisms using genetic algorithms,"
Journal of Mechanical Design, vol. 133, 2011.
[19] Pololu Robotics and Electronics 2000, accessed April 2010, Retrieved
from Pololu Robotics and Electronics;
http://www.pololu.com/catalog/product/1350
[1] S. Haddadin, and A. Albu-Schäffer, "Safe physical human-robot
interaction: measurements, analysis and new insights," Robotics
Research, vol.66, 2011, pp. 395-407.
[2] B. Koyuncu, and M. G├╝zel, "Software development for the kinematic
analysis of a lynx 6 robot arm," International Journal of Applied
Science, Engineering and Technology, vol. 4, 2008, pp. 228-233.
[3] D. Tolani, A. Goswami, N. I. Badler, "Real-time inverse kinematics
techniques for anthropomorphic limbs," Graphical Models, vol. 62,
2000, pp. 353-388.
[4] A. Kelly, E. Capstick, D. Huber, H. Herman, P. Rander and R. Warner,
"Real-time photorealistic virtualized reality interface for remote mobile
robot control," Springer Tracts in Advanced Robotics, vol. 70, 2011, pp.
211-226.
[5] Y. Dadji, H. Michalik, N. Kohn, J. Steiner, G. Beckmann, T. Möglich
and J. U. Varchmin," A communication architecture for distributed realtime
robot control," Springer Tracts in Advanced Robotics, vol. 67,
2011, pp. 213-231.
[6] M. H. Korayem, K. Khoshhal, and H. Aliakbarpour, "Vision based robot
experiment: measurement of path related characteristics," International
Journal of Applied Science, Engineering and Technology, vol 2, 2006,
pp. 170-174.
[7] K. Oh, J. P. Hwang, E. Kim, and H. Lee, "Path planning of a robot
manipulator using retrieval RRT strategy", World Academy of Science,
Engineering and Technology, vol. 21, 2007, pp. 1307-6884.
[8] T. C. Manjunath, and C. Ardil, "Design of an artificial intelligence based
automatic task planner or a robotic system," International Journal of
Computer and Information Science and Engineering, vol. 2, 2008, pp. 1-
6.
[9] M. Samaka, "Robot task-level programming language and simulation, "
World Academy of Science, Engineering and Technology, vol. 9, 2005,
pp. 99-103.
[10] K. B. Shimoga, "Robot Grasp Synthesis Algorithms: A Survey,"
International Journal of Robotics Research, vol. 15, 1996, pp. 230-266.
[11] M. R. Cutkoski, "On grasp choice, grasp models, and the design of
hands for manufacturing tasks," IEEE Trans. Robot. Automat, vol. 5,
1989, pp. 269-279.
[12] A. Osyczka, Evolutionary algorithms for single and multicriteria design
optimization. Heidelberg: Physica-Verlag, 2002.
[13] M. Ceccarelli, J. Cuadrado, and D. Dopico, "An optimum synthesis for
gripping mechanisms by using natural coordinates," Proceedings of the
Institution of Mechanical Engineers, Part C: Journal of Mechanical
Engineering Science, vol. 216, 2002, pp 643-653.
[14] J. Cuadrado, M. A. Naya, M. Ceccarelli, and G. Carbone, "An optimum
design procedure for two-finger grippers: a case study," Electronic
Journal of Computational Kinematics, vol. 1, 2002.
[15] J. A. Cabrera, F. Nadal, J. P. Munoz, and A. Simon, "Multiobjective
constrained optimal synthesis of planar mechanisms using a new
evolutionary algorithm," Mechanism and Machine Theory, vol. 42,
2007, pp.791-806.
[16] C. Lanni, and M. Ceccarelli, "An optimization problem algorithm for
kinematic design of mechanisms for two-finger grippers," Open
Mechanical Engineering Journal, vol. 3, 2009, pp. 49-62.
[17] R. Datta, and K. Deb, "Multi-objective design and analysis of robot
gripper configurations using an evolutionary-classical approach," 13th
Annual Conference on Genetic and Evolutionary Computation, Dublin,
Ireland, 2011, pp. 1843-1850.
[18] X. Zhang, and C. A. Nelson, "Multiple-criteria kinematic optimization
for the design of spherical serial mechanisms using genetic algorithms,"
Journal of Mechanical Design, vol. 133, 2011.
[19] Pololu Robotics and Electronics 2000, accessed April 2010, Retrieved
from Pololu Robotics and Electronics;
http://www.pololu.com/catalog/product/1350
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:62880", author = "Majid Tolouei-Rad and Peter Kalivitis", title = "Development of an Autonomous Friction Gripper for Industrial Robots", abstract = "Industrial robots become useless without end-effectors
that for many instances are in the form of friction grippers.
Commonly friction grippers apply frictional forces to different
objects on the basis of programmers- experiences. This puts a
limitation on the effectiveness of gripping force that may result in
damaging the object. This paper describes various stages of design
and development of a low cost sensor-based robotic gripper that
would facilitate the task of applying right gripping forces to different
objects. The gripper is also equipped with range sensors in order to
avoid collisions of the gripper with objects. It is a fully functional
automated pick and place gripper which can be used in many
industrial applications. Yet it can also be altered or further developed
in order to suit a larger number of industrial activities. The current
design of gripper could lead to designing completely automated robot
grippers able to improve the efficiency and productivity of industrial
robots.", keywords = "Control system, end-effector, robot, sensor", volume = "5", number = "10", pages = "2065-6", }
