This paper examines joint coupling in underactuated robotic grippers for unstructured environments where object properties and location may not be well known. A simplified grasper consisting of a pair of two-link planar fingers with compliant revolute joints was simulated as it grasped a target object. The joint coupling configuration of the gripper was varied in order to maximize successful gr...

One of the major challenges of robotics is the grasping and manipulating of objects in an unstructured environment, in particular where the physical properties of the object are not known a priori. The resultant uncertainty makes it difficult to control contact forces, and the relative position between the object and the gripper's point of contact. As part of the grasping process, force control...

This paper presents the designing, simulation, fabrication and control of a gripper actuated by Shape Memory Alloy (SMA) wire. The presented gripper has the advantage of the small linear displacement of the slider connected to the SMA wire, and can convert the linear displacement into angular movement of the gripper fingers. In this study, design and simulation processes have been done by two p...

Advanced robotic systems are an Industry 4.0 enabler in smart factories. Industrial manipulators require end-effector to perform tasks. The purpose of this study was research and develop a reconfigurable for machining part handling. device eliminates the need separate robots handling operations. A reconfigurable, dual-purpose design lengthy changes. paper presents mechanical conceptualisation, ...

A great deal of work has been done to analyze the problem of robot move sequencing and part scheduling in robotic cell flowshops. We examine the recent developments in this literature. A robotic cell flowshop consists of a number of processing stages served by one or more robots. Each stage has one or more machines that perform that stage’s processing. Types of robotic cells are differentiated ...

–Mechatronics is one of the promising trends in the era of computing in today’s system automation industry and control. The proposed project is one such attempt of designing an accelerometer based system to communicate with an industrial robotic arm wirelessly. This project comprises of design and implementation of the robotic arm powered with Cortex–M3 based LPC1768 core. The core has to be in...