– One of the important applications of robots is in material handling and transport of various shaped objects. In cases where an object cannot be directly grasped by the robot gripper, and must be carried by a hook, it may be subject to undesirable swings during transport. This paper presents an analytical method for minimizing the oscillation of a suspended object during transport. This method...

Robotic surgery reduces the amount of tissues that are damaged during a surgical procedure, thereby reducing the patient recovery time, discomfort and deleterious side effect such as infection. In this article, kinematic and dynamic analysis of a surgical tool manipulator is carried out to perform the desired range of motions for a typical minimal invasive surgical operation. The manipulator ha...

Pre-programming complex robotic systems to operate in unstructured environments is extremely difficult because of the programmer’s inability to predict future operating conditions in the face of unforeseen environmental conditions, mechanical wear of parts, etc. The solution to this problem is for the robot controller to learn on-line about its own capabilities and limitations when interacting ...

This paper deals with the cyclic flow shop robotic cell scheduling problem with multiple single and dual gripper robots, in which multiple part types are processed on multiple machines successively with free, time-windows and no-wait pickup criteria. The robots execute the transportation of parts between the machines. A novel comprehensive mixed-integer linear programming model has been propose...

Climbing robots are intended to move over vertical and slope surfaces to fulfill different technological operation by means on-board equipment. Vertical surfaces of buildings can be porous and rough so the robot should perform adaptation to such kinds of surfaces. The paper presents a new climbing robot for construction tasks that has adaptive possibility to move over various surfaces by means ...

This paper proposes a novel robotic gripper used for assembly tasks that can adaptively grasp objects with different shapes. The proposed hand has a combined structure between two kinds of shape adaptive mechanisms where one is the granular jamming and the other is a multi-finger mechanism driven by a single wire. Due to the effect of the two shape adaptive mechanisms, the pose of a grasped obj...

Consider a thin, flexible wire of fixed length that is held at each end by a robotic gripper. Any curve traced by this wire when in static equilibrium is a local solution to a geometric optimal control problem, with boundary conditions that vary with the position and orientation of each gripper. We prove that the set of all local solutions to this problem over all possible boundary conditions i...

Grasping unknown objects has been an active research topic for decades. Approaches range from using various sensors to gain information about the object (e.g. vision, tactile, etc.) to building passively compliant hands that react appropriately to contact. In this paper, we focus on grasping unknown objects using proprioception (the combination of joint position and torque sensing). Our hypothe...

This paper describes a gripper for manipulation in natural, unstructured environments. The specific manipulation task is to plck up surface material such as pebbles, or small rocks, in a natural terrain. The application is to give autonomous sampling c3pabilities to an autonomous vehicle for planetary exploration. Wc describe the task analysis process that led to the selection of J configuratio...

The aim of this paper is to depict the design of a two finger parallel gripper which implements a cam-follower type transmission. This transmission is based in Slide-O-Cam, a cam mechanism with multiple rollers mounted in a common follower whose purpose is to produce a sliding motion from a rotating drive or vice versa. This transmission provides pure-rolling motion, thereby minimizing friction...