TY - GEN
T1 - An accurate force regulation mechanism for handling fragile objects using pneumatic grippers
AU - Chen, Chih Chieh
AU - Lan, Chao Chieh
PY - 2016/9/26
Y1 - 2016/9/26
N2 - Controlling the gripping force on objects has been a challenging task for industrial grippers. Its realization often requires an electric gripper with embedded force sensors and control feedback. This approach is costly and introduces extra complexity for grippers. To avoid damage while handling fragile objects, this paper presents a novel force regulation mechanism (FRM) to be installed on grippers. Without using additional sensors and control, the FRM can passively produce an adjustable contact force between the finger jaws and objects of variable sizes. Together with pneumatic grippers which are much less expensive, this approach offers a more attractive solution in terms of cost and complexity. In this paper, the design concept and simulation results are presented and discussed. A prototype of a gripper with the proposed FRM is illustrated to demonstrate the effectiveness and accuracy of force regulation. This novel mechanism is expected to serve as a reliable alternative for industrial object manipulation.
AB - Controlling the gripping force on objects has been a challenging task for industrial grippers. Its realization often requires an electric gripper with embedded force sensors and control feedback. This approach is costly and introduces extra complexity for grippers. To avoid damage while handling fragile objects, this paper presents a novel force regulation mechanism (FRM) to be installed on grippers. Without using additional sensors and control, the FRM can passively produce an adjustable contact force between the finger jaws and objects of variable sizes. Together with pneumatic grippers which are much less expensive, this approach offers a more attractive solution in terms of cost and complexity. In this paper, the design concept and simulation results are presented and discussed. A prototype of a gripper with the proposed FRM is illustrated to demonstrate the effectiveness and accuracy of force regulation. This novel mechanism is expected to serve as a reliable alternative for industrial object manipulation.
UR - http://www.scopus.com/inward/record.url?scp=84992431047&partnerID=8YFLogxK
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U2 - 10.1109/AIM.2016.7576798
DO - 10.1109/AIM.2016.7576798
M3 - Conference contribution
AN - SCOPUS:84992431047
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 389
EP - 394
BT - 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
Y2 - 12 July 2016 through 15 July 2016
ER -