This paper approaches the design problem of suitable grippers for a robotic arm to pick up horticulture products. General considerations have been pointed out and main concepts and mechanical designs have been discussed and proposed by sketches and drawings for an easy understanding of “on-field” problems and feasible solutions. Pneumatic actuation has been proposed with suitable grasp force co...

Abstract: The demand for high speed robotic manipulators with little or no vibrations has been a challenging research problem. In this paper, a position control for a 2 DOF single link flexible manipulator with joint elasticity is studied. It is shown that using the flatness control approach, faster response and less oscillations and overshoots can be achieved. The flat output of the linearized...

This paper describes the development of a tendon-driven, multi-fingered dexterous robot hand for space operations. This hand can achieve cylindrical grasps while producing a holding strength necessary for grasping several crew aids, tools (CATs) and interfaces. The design is based on grasping requirements for 242 CATs and interfaces found in the extravehicular activity (EVA) Tools and Equipment...

This paper describes a dynamical strategy for releasing micro objects picked-up by means of adhesion forces. While sticking effects are used in order to capture an object by adequately choosing a high surface energy constitutive material for the end-effector, these same effects handicap considerably the release. We propose to take advantage of the inertial effects of both the end-effector and t...

This paper describes guidelines for the design of grippers for use in modular manufacturing workcells. Gripper design is an important and often overlooked aspect of the design of a complete assembly system. Here, guidelines are presented which can be applied to a wide variety of grippers. Guidelines are divided into three major categories: those that improve system throughput, those that increa...

Bikebot manipulation has advantages of the single-track robot mobility and dexterity. We present a coordinated pose control mobile with stationary bikebot. The challenges bikebot include limited steering balance capability unstable kinematic redundancy manipulator. first model to analyze explore maximum platform. A balancing equilibrium manifold is then proposed describe necessary condition ful...

Based on the structural shortage of an agricultural labor force and continuous increase in tomato planting scale China, as well limitation a greenhouse working environment development picking productivity, motor-driven end-effector for robot based hybrid force/position control strategy was designed. First, applied to process. Consistent with this strategy, mechanical structure design determined...