{"title":"Combining underactuation with vacuum grasping for improved robotic grippers","authors":"Matteo Maggi, Giacomo Mantriota, Giulio Reina","doi":"10.1016/j.mechatronics.2024.103211","DOIUrl":null,"url":null,"abstract":"<div><p>This paper introduces the concept of underactuated vacuum gripper (UVG), which combines two strategies, that is, underactuation and vacuum grasping. The idea is to achieve shape adaptation while improving grip stability by augmenting an underactuated gripper with suction cups. A general theory to predict the contact forces for a UVG is developed and used for comparison reasons with a standard underactuated counterpart. Multibody simulations have been performed to verify the analytical model and quantitatively evaluate the performance of the system in terms of three metrics, namely, grasp stability, contact force distribution, and pull-out force. Finally, the experimental results obtained from a physical prototype of an underactuated linkage-driven gripper equipped with suction cups are illustrated, attesting to the feasibility and potential gain of the system.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"102 ","pages":"Article 103211"},"PeriodicalIF":3.1000,"publicationDate":"2024-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S095741582400076X/pdfft?md5=d0f202f7ca2d3bb3f8a423e9fe883399&pid=1-s2.0-S095741582400076X-main.pdf","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechatronics","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S095741582400076X","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
This paper introduces the concept of underactuated vacuum gripper (UVG), which combines two strategies, that is, underactuation and vacuum grasping. The idea is to achieve shape adaptation while improving grip stability by augmenting an underactuated gripper with suction cups. A general theory to predict the contact forces for a UVG is developed and used for comparison reasons with a standard underactuated counterpart. Multibody simulations have been performed to verify the analytical model and quantitatively evaluate the performance of the system in terms of three metrics, namely, grasp stability, contact force distribution, and pull-out force. Finally, the experimental results obtained from a physical prototype of an underactuated linkage-driven gripper equipped with suction cups are illustrated, attesting to the feasibility and potential gain of the system.
期刊介绍：
Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
