The gripping operations are particularly important in handling tasks and especially robotic assembly. The gripping of items with various shapes and configurations required the transition form te grippers with jaws to the anthropomorphic grippers with fingers. A significant number of such grippers were made and tested in the last few years, but no relatively simple, reliable and low priced solut...

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...

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...

This paper evaluates state-of-the-art contact models at predicting the motions and forces involved in simple in-hand robotic manipulations. In particular it focuses on three primitive actions—linear sliding, pivoting, and rolling—that involve contacts between a gripper, a rigid object, and their environment. The evaluation is done through thousands of controlled experiments designed to capture ...

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...

In the development of robotic hands, researchers have sought to increase inherent functionality without incurring greater complexity and cost. In this paper, we extend the manipulation capabilities of a simple gripper through a novel, underactuated design that produces several distinctive modes of operation. The proposed asymmetric hand design, the Multi-Modal (M) Gripper, consists of a modular...

In the development of robotic hands, researchers have sought to increase inherent functionality without incurring greater complexity and cost. In this paper, we extend the manipulation capabilities of a simple gripper through a novel, underactuated design that produces several distinctive modes of operation. The proposed asymmetric hand design, the Multi-Modal (M 2 ) Gripper, consists of a modu...

Consider a thin, flexible wire of fixed length that is held at each end by a robotic gripper. The curve traced by this wire can be described as a local solution to a geometric optimal control problem, with boundary conditions that vary with the position and orientation of each gripper. The set of all local solutions to this problem is the configuration space of the wire under quasi-static manip...