Algorithm for the Extraction of Optimal Gripping Force Range with the Robot Gripper

The arm of robot consists of a manipulator and an end-effector. The end-effector is doing a specific work such as welding, picking and placing, sawing, deburring, suction, etc. with for the specific object of robot system. Here we are focused on the gripper among end-effectors. If the gripper genera...

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Published inApplied Mechanics and Materials Vol. 251; pp. 164 - 168
Main Authors Kim, Yoon Gu, Shin, Dong Hwan, Park, Tae Sang, Jeong, Choong Pyo, An, Ji Nung
Format Journal Article
LanguageEnglish
Published Zurich Trans Tech Publications Ltd 01.01.2013
Subjects
Young's Modulus
Optimal Gripping Force
Gripper
Frictional Coefficient
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Abstract The arm of robot consists of a manipulator and an end-effector. The end-effector is doing a specific work such as welding, picking and placing, sawing, deburring, suction, etc. with for the specific object of robot system. Here we are focused on the gripper among end-effectors. If the gripper generates the excessive gripping force, then the gripped material can have a permanent deformation. On the other hand, if the gripping force is too small, then the gripped material can be slip from the end-effector, drop to the floor and will get damaged. Therefore, it is important to use the adequate gripping force of the gripper. In this paper, we suggest the algorithm which is easy to automate, for the extraction of optimal gripping force range, with the estimation of frictional coefficient and young’s modulus.
AbstractList The arm of robot consists of a manipulator and an end-effector. The end-effector is doing a specific work such as welding, picking and placing, sawing, deburring, suction, etc. with for the specific object of robot system. Here we are focused on the gripper among end-effectors. If the gripper generates the excessive gripping force, then the gripped material can have a permanent deformation. On the other hand, if the gripping force is too small, then the gripped material can be slip from the end-effector, drop to the floor and will get damaged. Therefore, it is important to use the adequate gripping force of the gripper. In this paper, we suggest the algorithm which is easy to automate, for the extraction of optimal gripping force range, with the estimation of frictional coefficient and young’s modulus.
Author Shin, Dong Hwan
An, Ji Nung
Park, Tae Sang
Jeong, Choong Pyo
Kim, Yoon Gu
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  email: robot@dgist.ac.kr
  organization: Daegu Gyeongbuk Institute of Science and Technology : Public and Original Technology Research Center
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Keywords Young's Modulus
Optimal Gripping Force
Gripper
Frictional Coefficient
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Title Algorithm for the Extraction of Optimal Gripping Force Range with the Robot Gripper
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