Underactuated Finger Design for Flexible Grasping in Robotic Assembly
Апстракт
At present-day manufacturing and assembly lines,
fairly simple mechanism grippers are used. On the other hand,
growing demand for customized products that are mass
produced, require flexible, multipurpose grippers that are
capable of grasping complex objects of different sizes and
shapes. In order for robotic hand to be industry acceptable it
needs to be robust, easy to control and most importantly it
needs to be affordable price-wise. With that in mind concept of
multifingered underactuated robotic hand appears as a good
candidate to be optimal, general purpose solution.
Underactuation as a concept allows robotic hands to grip
arbitrary shaped objects without the need for complex control
and sensory systems. Also, with less actuators than degrees of
freedom multifingered underactuated robotic hand is more
affordable and from robot arm carrying capacity standpoint,
actuators with less weight allows robotic systems to move faster
or to carry heavier loads.... For this research linkage driven
underactuated mechanisms are chosen because of their rigidity
and that trait makes control system more reliable and easier to
make thus making whole robotic system more robust and
reliable. This paper presents some aspects of design and
grasping force analysis of three degrees of freedom (3-DoF)
underactuated robotic finger with linkage driven mechanism
for CMSysLab Robotic Hand.
Кључне речи:
Robotic assembly / Robotic Hand / Design / UnderactuationИзвор:
6th International Conference on Electrical, Electronic and Computing Engineering (IcETRAN 2019), Proceedings, Silver Lake, June 2019., 2019, 730-735, 2019, 730-735Финансирање / пројекти:
- Интелигентни роботски системи за екстремно диверзификовану производњу (RS-MESTD-Technological Development (TD or TR)-35007)
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Matijašević, Lazar AU - Petrović, Petar PY - 2019 UR - https://machinery.mas.bg.ac.rs/handle/123456789/6210 AB - At present-day manufacturing and assembly lines, fairly simple mechanism grippers are used. On the other hand, growing demand for customized products that are mass produced, require flexible, multipurpose grippers that are capable of grasping complex objects of different sizes and shapes. In order for robotic hand to be industry acceptable it needs to be robust, easy to control and most importantly it needs to be affordable price-wise. With that in mind concept of multifingered underactuated robotic hand appears as a good candidate to be optimal, general purpose solution. Underactuation as a concept allows robotic hands to grip arbitrary shaped objects without the need for complex control and sensory systems. Also, with less actuators than degrees of freedom multifingered underactuated robotic hand is more affordable and from robot arm carrying capacity standpoint, actuators with less weight allows robotic systems to move faster or to carry heavier loads. For this research linkage driven underactuated mechanisms are chosen because of their rigidity and that trait makes control system more reliable and easier to make thus making whole robotic system more robust and reliable. This paper presents some aspects of design and grasping force analysis of three degrees of freedom (3-DoF) underactuated robotic finger with linkage driven mechanism for CMSysLab Robotic Hand. C3 - 6th International Conference on Electrical, Electronic and Computing Engineering (IcETRAN 2019), Proceedings, Silver Lake, June 2019., 2019, 730-735 T1 - Underactuated Finger Design for Flexible Grasping in Robotic Assembly EP - 735 SP - 730 UR - https://hdl.handle.net/21.15107/rcub_machinery_6210 ER -
@conference{ author = "Matijašević, Lazar and Petrović, Petar", year = "2019", abstract = "At present-day manufacturing and assembly lines, fairly simple mechanism grippers are used. On the other hand, growing demand for customized products that are mass produced, require flexible, multipurpose grippers that are capable of grasping complex objects of different sizes and shapes. In order for robotic hand to be industry acceptable it needs to be robust, easy to control and most importantly it needs to be affordable price-wise. With that in mind concept of multifingered underactuated robotic hand appears as a good candidate to be optimal, general purpose solution. Underactuation as a concept allows robotic hands to grip arbitrary shaped objects without the need for complex control and sensory systems. Also, with less actuators than degrees of freedom multifingered underactuated robotic hand is more affordable and from robot arm carrying capacity standpoint, actuators with less weight allows robotic systems to move faster or to carry heavier loads. For this research linkage driven underactuated mechanisms are chosen because of their rigidity and that trait makes control system more reliable and easier to make thus making whole robotic system more robust and reliable. This paper presents some aspects of design and grasping force analysis of three degrees of freedom (3-DoF) underactuated robotic finger with linkage driven mechanism for CMSysLab Robotic Hand.", journal = "6th International Conference on Electrical, Electronic and Computing Engineering (IcETRAN 2019), Proceedings, Silver Lake, June 2019., 2019, 730-735", title = "Underactuated Finger Design for Flexible Grasping in Robotic Assembly", pages = "735-730", url = "https://hdl.handle.net/21.15107/rcub_machinery_6210" }
Matijašević, L.,& Petrović, P.. (2019). Underactuated Finger Design for Flexible Grasping in Robotic Assembly. in 6th International Conference on Electrical, Electronic and Computing Engineering (IcETRAN 2019), Proceedings, Silver Lake, June 2019., 2019, 730-735, 730-735. https://hdl.handle.net/21.15107/rcub_machinery_6210
Matijašević L, Petrović P. Underactuated Finger Design for Flexible Grasping in Robotic Assembly. in 6th International Conference on Electrical, Electronic and Computing Engineering (IcETRAN 2019), Proceedings, Silver Lake, June 2019., 2019, 730-735. 2019;:730-735. https://hdl.handle.net/21.15107/rcub_machinery_6210 .
Matijašević, Lazar, Petrović, Petar, "Underactuated Finger Design for Flexible Grasping in Robotic Assembly" in 6th International Conference on Electrical, Electronic and Computing Engineering (IcETRAN 2019), Proceedings, Silver Lake, June 2019., 2019, 730-735 (2019):730-735, https://hdl.handle.net/21.15107/rcub_machinery_6210 .