Abstract
The development of a reliable pick-and-place system for industrial robotics is facing an urgent demand because many manual-labor works, such as piece-picking in warehouses and fulfillment centers tend toward automation. This paper presents an integrated gripper that combines a linkage-driven underactuated gripper with a suction gripping system for picking up a variety of objects in different working environments. The underactuated gripper consists of two fingers, and each finger has three degrees of freedom that are obtained by stacking one five-bar mechanism over one double parallelogram. Furthermore, each finger is actuated by two motors, both of which can be installed at the base owing to the special architecture of the proposed robotic finger. A suction cup is used to grasp objects in narrow spaces and cluttered environments. The combination of the suction and traditional linkage-driven grippers allows stable and reliable grasping under different working environments. Finally, practical experiments using a wide range of objects and under different grasping scenarios are performed to demonstrate the grasping capability of the integrated gripper.
Highlights
The growth in industrial automation indicates that the human–robot–environment interaction will become a common work scenario in many robot applications such as personal, service, and medical robots
To achieve stable and reliable grasping, we develop a multi-function gripper that combines a new two-fingered underactuated gripper with a vacuum grasping system
The friction assembly because to of human’s grasping of objects of cylindrical, parallelepiped, andas is performed with only fingers, and two-finger grippers generally cheaper anda easier to pad use coefficient between thetwo contact surface and the object can are be increased by adding friction at pyramidal shapes is performed with only two fingers, and two-finger grippers are generally compared with multi-finger grippers/hands
Summary
The growth in industrial automation indicates that the human–robot–environment interaction will become a common work scenario in many robot applications such as personal, service, and medical robots. To ensure a stable and reliable grasping, the grippers should be designed to be multi-functional. A large number of robotic hands/grippers have been developed to grasp various objects. Multi-fingered anthropomorphic robotic hands have been proposed to attain dexterous manipulation similar to a human hand. The well-known designs include the DLR hand [1], Shadow hand [2], Nasa Robonaut 2 hand [3], and many others. These anthropomorphic hands, especially the fully actuated type, can be used to achieve dexterity similar to the human hand.
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