While existing grippers execute manipulation tasks, they occlude parts of the objects they grasp as well as parts of the workspace from vision sensors. We present the concept of a transparent gripper that enables vision sensors to image an object without oc-clusion while it is being manipulated. The physics of refraction, total internal reeection, lens eeects, dispersion and transmittance are a...

Electro active polymers (EAPs) exhibit large electrically induced strains (bending or stretching) with electrical stimuli. EAPs are utilized as actuators in micro gripper and micromanipulator in micro robotics activities. Remote center compliance (RCC) based micro gripper is developed to facilitate insertion of peg-in-hole (PIH) for micro assembly operations. An effect of RCC compliance during ...

The study of manipulation problem with application of a new gripper designed, constructed and built by the author is presented in the paper. The design work concentated on ensuring that the hand can contact with a variety of different shape objects made of flexible materials of different properties as well as fragile objects requiring particular caution when manipulated. Additionally it was ass...

Fig. 1. Parcelrobot and Velvet Fingers Gripper: The Parcelrobot platform is located at the Bremer Institut für Produktion und Logistik GmbH (BIBA) in Bremen, Germany. Its kinematic structure comprises linear and rotary axes that cover a cylindrical workspace. Equipped with the Velvet Fingers Gripper it comprises an autonomous system for unloading shipment containers filled with randomly packed ...

A highly versatile soft gripper that can handle an unprecedented range of object types is developed based on a new design of dielectric elastomer actuators employing an interdigitated electrode geometry, simultaneously maximizing both electroadhesion and electrostatic actuation while incorporating self-sensing. The multifunctionality of the actuator leads to a highly integrated, lightweight, fa...

Some grippers operate using Bernoulli Principle for generating a high-speed flow between the gripper plate and product surface thereby creating vacuum which lifted the product. Most of the robot grippers are not easily applicable due to the food products are often delicate, easily marked or bruised, adhesive and slippery. Feasibility observations are studied to demonstrate and obtain an overall...

Industrial robots become useless without end-effectors that for many instances are in the form of friction grippers. Commonly friction grippers apply frictional forces to different objects on the basis of programmers’ experiences. This puts a limitation on the effectiveness of gripping force that may result in damaging the object. This paper describes various stages of design and development of...

A robotic cell−a manufacturing system widely used in industry−contains two or more robot-served machines, repetitively producing a number of part types. In this paper, we consider scheduling of operations in a bufferless dual gripper robotic cell processing multiple part types. The processing constraints specify the cell to be a flowshop. The objective is to determine the robot move sequence an...

This paper is concerned with the determination of optimum forces extracted by robot grippers on the surface of a grasped rigid object – a matter which is crucial to guarantee the stability of the grip without causing defect or damage to the grasped object. A multicriteria optimization of robot gripper design problem is solved with two different configurations involving two conflicting objective...

This paper presents the mechanical design, analysis, fabrication, and testing procedures of a new large-range microgripper which is based on a flexible hinge structure. The uniqueness of the gripper is that the gripper arms not only provide large gripping range but also deliver approximately rectilinear movement as the displacement in nonworking direction is extremely small. The large gripping ...