Application of a Biphasic Actuator in the Design of the CloPeMa Robot GripperSource: Journal of Mechanisms and Robotics:;2015:;volume( 007 ):;issue: 001::page 11011DOI: 10.1115/1.4029292Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The paper (a first version of this work was presented in Aug. 2014 at ASMEDETC in Buffalo, NY) describes a novel robot gripper for garment handling. The device has been designed, developed, prototyped, and tested within the CloPeMa European Project creating a robot system for automated manipulation of clothing and other textile items. The gripper has two degrees of freedom (dof) and includes both rigid and flexible elements. A variablestiffness actuator has been implemented to add controlled compliance in the gripper’s operation allowing the combining of various grasping and manipulation tasks. First, we analyze the specific applicationdetermined task requirements, focusing on the need for adaptive flexibility and the role of compliant elements in the design. The chosen solution is a simple planar mechanism, equipped with one standard and one variablestiffness actuator. The mechanical design of the gripper, including the hydraulic system used in the biphasic actuator, is outlined, and the control architecture, using sensor feedback, is described.
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| contributor author | Le, Loan | |
| contributor author | Zoppi, Matteo | |
| contributor author | Jilich, Michal | |
| contributor author | Bo, Han | |
| contributor author | Zlatanov, Dimiter | |
| contributor author | Molfino, Rezia | |
| date accessioned | 2017-05-09T01:21:18Z | |
| date available | 2017-05-09T01:21:18Z | |
| date issued | 2015 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_007_01_011011.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/158946 | |
| description abstract | The paper (a first version of this work was presented in Aug. 2014 at ASMEDETC in Buffalo, NY) describes a novel robot gripper for garment handling. The device has been designed, developed, prototyped, and tested within the CloPeMa European Project creating a robot system for automated manipulation of clothing and other textile items. The gripper has two degrees of freedom (dof) and includes both rigid and flexible elements. A variablestiffness actuator has been implemented to add controlled compliance in the gripper’s operation allowing the combining of various grasping and manipulation tasks. First, we analyze the specific applicationdetermined task requirements, focusing on the need for adaptive flexibility and the role of compliant elements in the design. The chosen solution is a simple planar mechanism, equipped with one standard and one variablestiffness actuator. The mechanical design of the gripper, including the hydraulic system used in the biphasic actuator, is outlined, and the control architecture, using sensor feedback, is described. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Application of a Biphasic Actuator in the Design of the CloPeMa Robot Gripper | |
| type | Journal Paper | |
| journal volume | 7 | |
| journal issue | 1 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4029292 | |
| journal fristpage | 11011 | |
| journal lastpage | 11011 | |
| identifier eissn | 1942-4310 | |
| tree | Journal of Mechanisms and Robotics:;2015:;volume( 007 ):;issue: 001 | |
| contenttype | Fulltext |