A variable stiffness robotic gripper based on parallel beam with vision-based force sensing for flexible grasping.
Saved in:
| Title: | A variable stiffness robotic gripper based on parallel beam with vision-based force sensing for flexible grasping. |
|---|---|
| Authors: | Fu, Jiaming1 (AUTHOR), Yu, Ziqing1,2 (AUTHOR), Guo, Qianyu1 (AUTHOR), Zheng, Lianxi2 (AUTHOR), Gan, Dongming1 (AUTHOR) dgan@purdue.edu |
| Source: | Robotica. Dec2024, Vol. 42 Issue 12, p4036-4054. 19p. |
| Subjects: | Robot hands, Computer vision, Computer engineering, Robot industry, Robotics |
| Abstract: | The demand for flexible grasping of various objects by robotic hands in the industry is rapidly growing. To address this, we propose a novel variable stiffness gripper (VSG). The VSG design is based on a parallel-guided beam structure inserted by a slider from one end, allowing stiffness variation by changing the length of the parallel beams participating in the system. This design enables continuous adjustment between high compliance and high stiffness of the gripper fingers, providing robustness through its mechanical structure. The linear analytical model of the deflection and stiffness of the parallel beam is derived, which is suitable for small and medium deflections. The contribution of each parameter of the parallel beam to the stiffness is analyzed and discussed. Also, a prototype of the VSG is developed, achieving a stiffness ratio of 70.9, which is highly competitive. Moreover, a vision-based force sensing method utilizing ArUco markers is proposed as a replacement for traditional force sensors. By this method, the VSG is capable of closed-loop control during the grasping process, ensuring efficiency and safety under a well-defined grasping strategy framework. Experimental tests are conducted to emphasize the importance and safety of stiffness variation. In addition, it shows the high performance of the VSG in adaptive grasping for asymmetric scenarios and its ability to flexible grasping for objects with various hardness and fragility. These findings provide new insights for future developments in the field of variable stiffness grippers. [ABSTRACT FROM AUTHOR] |
| Copyright of Robotica is the property of Cambridge University Press and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
| FullText | Text: Availability: 0 |
|---|---|
| Header | DbId: egs DbLabel: Engineering Source An: 184500039 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
| IllustrationInfo | |
| Items | – Name: Title Label: Title Group: Ti Data: A variable stiffness robotic gripper based on parallel beam with vision-based force sensing for flexible grasping. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Fu%2C+Jiaming%22">Fu, Jiaming</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Yu%2C+Ziqing%22">Yu, Ziqing</searchLink><relatesTo>1,2</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Guo%2C+Qianyu%22">Guo, Qianyu</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Zheng%2C+Lianxi%22">Zheng, Lianxi</searchLink><relatesTo>2</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Gan%2C+Dongming%22">Gan, Dongming</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> dgan@purdue.edu</i> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22Robotica%22">Robotica</searchLink>. Dec2024, Vol. 42 Issue 12, p4036-4054. 19p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Robot+hands%22">Robot hands</searchLink><br /><searchLink fieldCode="DE" term="%22Computer+vision%22">Computer vision</searchLink><br /><searchLink fieldCode="DE" term="%22Computer+engineering%22">Computer engineering</searchLink><br /><searchLink fieldCode="DE" term="%22Robot+industry%22">Robot industry</searchLink><br /><searchLink fieldCode="DE" term="%22Robotics%22">Robotics</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: The demand for flexible grasping of various objects by robotic hands in the industry is rapidly growing. To address this, we propose a novel variable stiffness gripper (VSG). The VSG design is based on a parallel-guided beam structure inserted by a slider from one end, allowing stiffness variation by changing the length of the parallel beams participating in the system. This design enables continuous adjustment between high compliance and high stiffness of the gripper fingers, providing robustness through its mechanical structure. The linear analytical model of the deflection and stiffness of the parallel beam is derived, which is suitable for small and medium deflections. The contribution of each parameter of the parallel beam to the stiffness is analyzed and discussed. Also, a prototype of the VSG is developed, achieving a stiffness ratio of 70.9, which is highly competitive. Moreover, a vision-based force sensing method utilizing ArUco markers is proposed as a replacement for traditional force sensors. By this method, the VSG is capable of closed-loop control during the grasping process, ensuring efficiency and safety under a well-defined grasping strategy framework. Experimental tests are conducted to emphasize the importance and safety of stiffness variation. In addition, it shows the high performance of the VSG in adaptive grasping for asymmetric scenarios and its ability to flexible grasping for objects with various hardness and fragility. These findings provide new insights for future developments in the field of variable stiffness grippers. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of Robotica is the property of Cambridge University Press and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
| PLink | https://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=egs&AN=184500039 |
| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.1017/S026357472300156X Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 19 StartPage: 4036 Subjects: – SubjectFull: Robot hands Type: general – SubjectFull: Computer vision Type: general – SubjectFull: Computer engineering Type: general – SubjectFull: Robot industry Type: general – SubjectFull: Robotics Type: general Titles: – TitleFull: A variable stiffness robotic gripper based on parallel beam with vision-based force sensing for flexible grasping. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Fu, Jiaming – PersonEntity: Name: NameFull: Yu, Ziqing – PersonEntity: Name: NameFull: Guo, Qianyu – PersonEntity: Name: NameFull: Zheng, Lianxi – PersonEntity: Name: NameFull: Gan, Dongming IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 12 Text: Dec2024 Type: published Y: 2024 Identifiers: – Type: issn-print Value: 02635747 Numbering: – Type: volume Value: 42 – Type: issue Value: 12 Titles: – TitleFull: Robotica Type: main |
| ResultId | 1 |
