An accurate force regulation mechanism for handling fragile objects using pneumatic grippers

Chih Chieh Chen, Chao Chieh Lan

研究成果: Conference contribution

3 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
發行者Institute of Electrical and Electronics Engineers Inc.
頁面389-394
頁數6
ISBN(電子)9781509020652
DOIs
出版狀態Published - 2016 九月 26
事件2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 - Banff, Canada
持續時間: 2016 七月 122016 七月 15

出版系列

名字IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
2016-September

Other

Other2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
國家Canada
城市Banff
期間16-07-1216-07-15

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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